video_backbone剖析

unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/analysis_report.md

@@ -0,0 +1,54 @@
+# DDIM Analysis Report
+
+## Analysis Config
+
+- Stability threshold: None
+- Stability window: 3
+- Mid-step window: 15-35
+
+## Dataset Overview
+
+- Unique samples: 1
+- Step rows: 700
+- Sample rows: 2
+- Round rows: 7
+- Scenes: unitree_z1_dual_arm_stackbox
+- Pass types: policy, world_model
+
+## Five Directions
+
+### Original Early Stop
+
+- `latent_first_stable_step_policy`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step_world_model`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_l2_vs_full50`: mean=111.5273, median=134.0007, p90=152.2725, p95=155.6022
+
+### Direction C: Action Converges First
+
+- `action_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `action_vs_full50_95pct_step`: mean=47.1429, median=47.1429, p90=47.1429, p95=47.1429
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3536, median=0.3491, p90=0.4171, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0294, median=0.0278, p90=0.0426, p95=0.0452
+- `state_delta_mid_steps`: mean=0.0295, median=0.0280, p90=0.0439, p95=0.0464
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.1429, median=47.1429, p90=47.1429, p95=47.1429
+- `oracle_budget_state`: mean=48.0000, median=48.0000, p90=48.0000, p95=48.0000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox`: mean=47.1429, median=47.1429, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=179.2887, median=182.8145, p90=193.0819, p95=194.5104
+- `action_drift_vs_prev_round`: mean=0.3701, median=0.3073, p90=0.5790, p95=0.5933
+- `round_total_time_s`: mean=519.5323, median=520.0046, p90=565.6002, p95=568.2485
+- `policy_pass_total_time_s`: mean=215.4158, median=218.7563, p90=240.6576, p95=243.1630
+- `world_model_pass_total_time_s`: mean=215.6475, median=226.8410, p90=236.4690, p95=236.9555
+

unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
+scene,pass_type,pass_total_time_s,pass_total_time_s,pass_total_time_s,action_first_stable_step,action_first_stable_step,action_first_stable_step,state_first_stable_step,state_first_stable_step,state_first_stable_step,latent_first_stable_step,latent_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_action,oracle_budget_action,oracle_budget_state,oracle_budget_state,oracle_budget_state,round_total_time_s,round_total_time_s,round_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
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+unitree_z1_dual_arm_stackbox,world_model,215.64754690442768,215.64754690442768,,,,,,,,,,,45.285714285714285,45.285714285714285,,47.142857142857146,47.142857142857146,,47.142857142857146,47.142857142857146,,48.0,48.0,,519.5322721004486,519.5322721004486,,215.41583268983024,215.41583268983024,,215.64754690442768,215.64754690442768,,179.28866322835287,179.28866322835287,,0.3700742026170094,0.3700742026170094,

unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md

@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 17500
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=28.6022, median=32.7788, p90=52.3676
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.128584, median=0.107799, p90=0.210550
+- `cosine_vs_prev`: mean=0.988497, median=0.994608, p90=0.998929
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.036708, mean_forward_time_ms=39.4697
+- `output_4` (output_blocks): tail_rel_l2=0.047624, mean_forward_time_ms=36.8545
+- `output_2` (output_blocks): tail_rel_l2=0.050369, mean_forward_time_ms=4.1139
+- `output_6` (output_blocks): tail_rel_l2=0.051404, mean_forward_time_ms=39.0560
+- `output_3` (output_blocks): tail_rel_l2=0.051652, mean_forward_time_ms=36.9547
+- `output_8` (output_blocks): tail_rel_l2=0.057084, mean_forward_time_ms=41.1807
+- `input_5` (input_blocks): tail_rel_l2=0.064854, mean_forward_time_ms=40.7057
+- `input_7` (input_blocks): tail_rel_l2=0.065994, mean_forward_time_ms=36.9373
+- `output_1` (output_blocks): tail_rel_l2=0.066162, mean_forward_time_ms=3.2801
+- `output_7` (output_blocks): tail_rel_l2=0.066748, mean_forward_time_ms=39.7934

unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv

@@ -0,0 +1,26 @@
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unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv

@@ -0,0 +1,10 @@
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unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/round_summary.csv

@@ -0,0 +1,8 @@
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unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv

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unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/stepwise_log.csv

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unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/round_summary.csv

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unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/sample_summary.csv

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unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/stepwise_log.csv

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+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,25,0.6785056591033936,0.34670305252075195,0.025360070168972015,0.028594158589839935,0.27159228920936584,0.22348839044570923,153.55532836914062
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,26,0.6702494621276855,0.3411099314689636,0.026682008057832718,0.030067039653658867,0.2851722836494446,0.23997455835342407,153.72825622558594
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,27,0.6727035045623779,0.3345528542995453,0.028067247942090034,0.03161437064409256,0.2993047833442688,0.2572411298751831,153.73178100585938
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,28,0.6867218017578125,0.3281041085720062,0.029520373791456223,0.03324197232723236,0.3140406608581543,0.27536115050315857,153.67515563964844
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,29,0.7075107097625732,0.32170867919921875,0.03241301700472832,0.035712048411369324,0.33145517110824585,0.29529857635498047,154.103759765625
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,30,0.6885645389556885,0.3163580298423767,0.03406282141804695,0.037548862397670746,0.34970247745513916,0.3163125514984131,154.63787841796875
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,31,0.6781086921691895,0.3114568591117859,0.03580062463879585,0.0394890271127224,0.3688552677631378,0.3384995758533478,150.345703125
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,32,0.6684842109680176,0.30446892976760864,0.03763319551944733,0.04154058173298836,0.3889909088611603,0.3619617223739624,146.63748168945312
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,33,0.6738686561584473,0.2973156273365021,0.03956757113337517,0.043711718171834946,0.41019105911254883,0.3868061602115631,142.9316864013672
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,34,0.669971227645874,0.28893059492111206,0.041612498462200165,0.0460122786462307,0.4325408637523651,0.41314324736595154,139.52841186523438
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,35,0.7450180053710938,0.2803804278373718,0.043775931000709534,0.04845084622502327,0.4561273455619812,0.4410826563835144,136.29953002929688
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,36,0.6931345462799072,0.2715494632720947,0.04827743023633957,0.052834849804639816,0.4826604127883911,0.47186076641082764,133.69773864746094
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,37,0.6677908897399902,0.2622387409210205,0.050858836621046066,0.05574542656540871,0.5107495784759521,0.5046061277389526,131.1446075439453
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,38,0.6638431549072266,0.2530593276023865,0.05359610170125961,0.0588347353041172,0.5404664874076843,0.5393953323364258,128.86911010742188
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,39,0.6904792785644531,0.24452565610408783,0.056496068835258484,0.062106769531965256,0.5718561410903931,0.5762573480606079,126.9691162109375
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,40,0.6680984497070312,0.23544009029865265,0.05956427380442619,0.06556171178817749,0.6049216985702515,0.6151467561721802,125.43315887451172
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,41,0.6602377891540527,0.22448374330997467,0.06279891729354858,0.0691882073879242,0.6396005153656006,0.6559057235717773,124.1292495727539
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,42,0.6676483154296875,0.21391046047210693,0.06619521975517273,0.07296699285507202,0.6757380962371826,0.6982207298278809,123.12410736083984
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,43,0.72232985496521,0.2039918303489685,0.07296685129404068,0.07715510576963425,0.7154569625854492,0.7417315244674683,122.3541030883789
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,44,0.6619882583618164,0.19445960223674774,0.07693158090114594,0.08128872513771057,0.7560044527053833,0.7857450842857361,122.0368423461914
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,45,0.6726410388946533,0.18426786363124847,0.08098417520523071,0.08544673770666122,0.7965985536575317,0.8291946053504944,121.84563446044922
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,46,0.6671926975250244,0.17339769005775452,0.08506151288747787,0.08953581750392914,0.8361605405807495,0.8706682920455933,122.05911254882812
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,47,0.6699726581573486,0.16347602009773254,0.0890980139374733,0.0934576466679573,0.8733079433441162,0.908446192741394,122.59947204589844
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,48,0.6938066482543945,0.1531786024570465,0.0931108146905899,0.09720205515623093,0.9064203500747681,0.9406338930130005,123.39070892333984
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,49,0.6873166561126709,0.1425083577632904,0.09768624603748322,0.10135409235954285,0.9338400959968567,0.9654236435890198,124.56114959716797
+unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,50,0.7053377628326416,0.12321840971708298,0.1406906247138977,0.15876813232898712,0.9622001647949219,0.9882305860519409,124.93435668945312

unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_profile.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-1}" \
+bash "${repo_root}/scripts/run_world_model_backbone_profile_case.sh" \
+    "unitree_z1_dual_arm_stackbox/case3" \
+    "unitree_z1_dual_arm_stackbox" \
+    "4" \
+    "7"

unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox/case3"
 dataset="unitree_z1_dual_arm_stackbox"
 
 {
-    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 "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"