video_backbone剖析

unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,9 @@
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unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/sample_summary.csv

@@ -0,0 +1,3 @@
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unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/stepwise_log.csv

@@ -0,0 +1,801 @@
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unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_cleanup_pencils/case4"
 dataset="unitree_z1_dual_arm_cleanup_pencils"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"