video_backbone剖析

unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,0,34.6963095664978,34.687960147857666,141.07195377349854,,,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,1,34.44554090499878,34.149985551834106,142.8440294265747,242.62477111816406,0.3331108093261719,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,2,34.16856265068054,34.74272179603577,141.69387793540955,242.17344665527344,1.0369502194225788,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,3,34.6714084148407,33.94211483001709,140.9935805797577,250.14584350585938,0.5469582676887512,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,4,35.077704668045044,35.157174825668335,142.93432450294495,254.5370635986328,0.6937128007411957,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,5,34.783668994903564,33.83684039115906,141.81956338882446,223.7366485595703,0.4414963722229004,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,6,35.127192735672,34.664276361465454,143.34680724143982,236.75621032714844,0.7516259402036667,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,7,34.36726403236389,33.87373757362366,140.53388166427612,217.3331298828125,0.5563024580478668,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,8,33.7715482711792,34.000213861465454,140.70656752586365,193.4322967529297,0.0650750994682312,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,9,34.447805404663086,34.42842245101929,142.1645531654358,197.56610107421875,0.07055008411407471,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,10,34.54317378997803,34.236499071121216,142.73940634727478,210.9322052001953,0.43225961923599243,

unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,34.554561766711146,,,,47.3,49.25,46.90909090909091,47.18181818181818,,226.92377166748048,0.49280416704714297,141.89532232284546,34.554561766711146,34.33817698738792,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,34.33817698738792,,,,47.0,48.857142857142854,47.0,47.27272727272727,,226.92377166748048,0.49280416704714297,141.89532232284546,34.554561766711146,34.33817698738792,

unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case1"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    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 "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"

unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,0,34.487425088882446,33.954912424087524,142.91271448135376,,,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,1,34.368257999420166,34.4118230342865,143.43725562095642,237.16329956054688,0.43214982748031616,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,2,34.422353744506836,34.37915921211243,142.58857226371765,261.67279052734375,1.1038902625441551,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,3,34.07564926147461,34.27230763435364,140.5536015033722,238.81314086914062,0.3953864574432373,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,4,34.21823239326477,34.477816343307495,141.6662359237671,246.5524444580078,0.6671305894851685,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,5,34.06297254562378,34.3808650970459,140.73531913757324,216.4503936767578,0.4289618134498596,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,6,34.32488775253296,34.4990758895874,141.98702192306519,235.13278198242188,0.9781416803598404,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,7,33.835288286209106,34.33413743972778,140.40734887123108,197.0900421142578,0.21572017669677734,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,8,34.21294689178467,34.610371828079224,141.6176176071167,198.307373046875,0.4027923345565796,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,9,34.39130401611328,34.23867988586426,140.93059992790222,218.06784057617188,0.0562475323677063,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,10,34.440922260284424,34.388654470443726,141.8792908191681,229.65902709960938,0.4281993508338928,

unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,34.25820365819064,,,,47.22222222222222,49.166666666666664,46.81818181818182,47.54545454545455,,227.8909133911133,0.5108620025217533,141.70141618902034,34.25820365819064,34.35889120535417,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,34.35889120535417,,,,47.2,49.25,46.90909090909091,47.54545454545455,,227.8909133911133,0.5108620025217533,141.70141618902034,34.25820365819064,34.35889120535417,

unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case2"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    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 "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"

unitree_z1_dual_arm_stackbox_v2/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: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_z1_dual_arm_stackbox_v2
+- 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=115.8010, median=134.5896, p90=167.1260, p95=173.4072
+
+### 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=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3543, median=0.3499, p90=0.4168, p95=0.4280
+- `action_delta_mid_steps`: mean=0.0292, median=0.0278, p90=0.0418, p95=0.0442
+- `state_delta_mid_steps`: mean=0.0289, median=0.0277, p90=0.0412, p95=0.0436
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `oracle_budget_state`: mean=47.2727, median=47.2727, p90=47.2727, p95=47.2727
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox_v2`: mean=47.0000, median=47.0000, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=231.7361, median=238.0504, p90=249.6127, p95=250.9849
+- `action_drift_vs_prev_round`: mean=0.5081, median=0.5859, p90=0.7471, p95=0.8915
+- `round_total_time_s`: mean=634.5059, median=633.3537, p90=660.0337, p95=678.9987
+- `policy_pass_total_time_s`: mean=275.3766, median=280.2974, p90=298.3891, p95=301.0733
+- `world_model_pass_total_time_s`: mean=268.4882, median=275.5481, p90=285.2526, p95=294.7232
+

unitree_z1_dual_arm_stackbox_v2/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
+unitree_z1_dual_arm_stackbox_v2,policy,275.3765917474573,275.3765917474573,,,,,,,,,,,45.18181818181818,45.18181818181818,,47.0,47.0,,47.0,47.0,,47.36363636363637,47.36363636363637,,634.5059445771304,634.5059445771304,,275.3765917474573,275.3765917474573,,268.4881862727079,268.4881862727079,,231.73612213134768,231.73612213134768,,0.5081134960055351,0.5081134960055351,
+unitree_z1_dual_arm_stackbox_v2,world_model,268.4881862727079,268.4881862727079,,,,,,,,,,,45.09090909090909,45.09090909090909,,47.0,47.0,,47.0,47.0,,47.27272727272727,47.27272727272727,,634.5059445771304,634.5059445771304,,275.3765917474573,275.3765917474573,,268.4881862727079,268.4881862727079,,231.73612213134768,231.73612213134768,,0.5081134960055351,0.5081134960055351,

unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
+pass_type,step,step_time_s,step_time_s,step_time_s,latent_delta,latent_delta,latent_delta,action_delta,action_delta,action_delta,state_delta,state_delta,state_delta,action_cosine_vs_full50,action_cosine_vs_full50,action_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+policy,1,2.961723067543723,3.0457730293273926,0.30733463171292413,1.4142929640683262,1.4138330221176147,0.0021513442513452176,0.09115139191800893,0.0915360450744628,0.01667876417115203,0.07180491394617336,0.0699826553463935,0.01741629673134964,0.11176775158806276,0.1003926917910575,0.09008686893868328,0.09214074926620176,0.0852091535925865,0.07292854180510658,170.1560682816939,169.63926696777344,8.701319959537033
+policy,2,5.365734208713878,5.595091104507446,0.9021474097321781,1.0213391347364946,1.0217554569244385,0.0024496354120375177,0.05057833614674478,0.0497709400951862,0.0059644014055598256,0.041448238559744534,0.0417604111135005,0.006288147496694682,0.10462753965773362,0.1028010472655296,0.08952226410063524,0.08824843794784759,0.0798028260469436,0.07326976136879032,169.9382781982422,170.2886962890625,8.805168939029437
+policy,3,5.477860710837624,5.699332475662232,0.9820547709461189,0.8495141051032327,0.8491765260696411,0.0018963342967903308,0.031614709984172436,0.030165234580636,0.005633254049991607,0.026263464072888484,0.0259698946028947,0.003927077008296669,0.10314930670640683,0.1041365042328834,0.08919885893251163,0.09047750332816078,0.08074601739645,0.07317526609562708,169.172475641424,169.27386474609375,8.530225366778145
+policy,4,5.77379152991555,6.096323728561401,0.7169647701324624,0.7499512000517412,0.7500871419906616,0.002016684615807661,0.021334457973187563,0.019373845309019,0.00490708232693954,0.018219844861464028,0.0176380611956119,0.0020552128266117953,0.10571288131177421,0.1040309965610504,0.08841488528054506,0.09637322530827735,0.0863417387008667,0.07286922012743773,168.8832452947443,168.96168518066406,8.165151923635344
+policy,5,5.695053469051015,5.786634206771851,0.6348705997810279,0.6822807897220958,0.6824705600738525,0.0012259663966481822,0.015803308734162236,0.0148657700046896,0.002275691717359569,0.014427715658464164,0.014245955273509,0.0012122505001306745,0.1109166529706933,0.1074261367321014,0.0874508283988323,0.1043318974023515,0.0949946939945221,0.07220492426855585,168.1869354248047,168.57791137695312,8.633107635609253
+policy,6,5.393422820351341,5.903841018676758,1.128049349330141,0.6325016021728516,0.6319015026092529,0.0013255069841255226,0.013981751504946792,0.0135306753218173,0.0014148090304813544,0.013117371296340725,0.012809264473617,0.0010475596865880963,0.11787765523926774,0.1126565635204315,0.08664448892529986,0.11331838369369503,0.1048481911420822,0.0713382241136578,165.95127591219816,166.62210083007812,9.777684557505815
+policy,7,5.2120350274172695,5.356626272201538,1.1187076796559625,0.5943026000803168,0.5943865180015564,0.0019822130467598764,0.013854623518206809,0.0136737003922462,0.0015957398522605268,0.013025563718243018,0.0130003057420253,0.0012101078401935608,0.12584961916912685,0.1186590641736984,0.08585522230734362,0.12297257086770097,0.1157473623752594,0.07031841436334103,164.498647516424,164.7789764404297,9.404456674789943
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unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md

@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 27500
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=30.6226, median=34.4359, p90=54.6938
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.149721, median=0.132665, p90=0.240669
+- `cosine_vs_prev`: mean=0.985251, median=0.991636, p90=0.998321
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.043011, mean_forward_time_ms=42.8890
+- `output_4` (output_blocks): tail_rel_l2=0.052021, mean_forward_time_ms=40.3957
+- `output_2` (output_blocks): tail_rel_l2=0.054626, mean_forward_time_ms=4.3381
+- `output_6` (output_blocks): tail_rel_l2=0.057488, mean_forward_time_ms=42.5098
+- `output_3` (output_blocks): tail_rel_l2=0.057636, mean_forward_time_ms=40.0281
+- `output_8` (output_blocks): tail_rel_l2=0.062614, mean_forward_time_ms=44.6301
+- `output_1` (output_blocks): tail_rel_l2=0.069826, mean_forward_time_ms=3.3247
+- `output_0` (output_blocks): tail_rel_l2=0.071301, mean_forward_time_ms=3.4693
+- `input_5` (input_blocks): tail_rel_l2=0.073083, mean_forward_time_ms=44.8023
+- `input_7` (input_blocks): tail_rel_l2=0.073246, mean_forward_time_ms=40.7521

unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv

@@ -0,0 +1,26 @@
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+input_blocks,input_1,1,58.958787457086146,0.25293762015666055,0.965164868420263,1828.79794810902,0.6163962061296809,0.21738951456495176,0.9778427510034471,59.24712209176127,0.1998589064587246,0.9814866572618485,58.32340886858715
+input_blocks,input_2,2,58.35193432232534,0.23986126523955628,0.9706873545951878,2228.656001697887,0.6401421579447659,0.21131474057059263,0.9789764514733187,58.25014757012618,0.21455711979757652,0.9780841732567007,57.80002254442397
+output_blocks,output_11,11,49.91908201439814,0.17033069537942172,0.9843914464586078,18345.83923140092,0.47318295841867275,0.14419922766424872,0.991237878283381,49.7539341671481,0.266653421792117,0.9640775206414136,49.9866924862462

unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv

@@ -0,0 +1,10 @@
+window,block_stage,mean_forward_time_ms,mean_rel_l2_delta_vs_prev,mean_cosine_vs_prev,mean_l2_delta_vs_full50,mean_cosine_vs_full50
+all,input_blocks,27.191823228601027,0.1776148513815928,0.9787853794597462,1738.8216644448944,0.7226854382771434
+all,middle_block,26.881818174045872,0.12626233537282258,0.9910653428708468,1969.6660104924981,0.7297855755957691
+all,output_blocks,34.365082893866315,0.1237817670851623,0.9912323717882623,6429.896320927938,0.7713428497698271
+mid,input_blocks,27.149935365096137,0.17118815630593723,0.9837389290870354,1846.8646624676594,0.7201258440812429
+mid,middle_block,26.31709240961546,0.133217600645957,0.9905916145353606,1967.0422291941456,0.7621007319136616
+mid,output_blocks,34.37077610400367,0.11730634922384782,0.9930711340530094,6426.609893083229,0.7799495234332904
+tail,input_blocks,27.14642500575406,0.12097002531147812,0.9917266111933823,816.3325125376383,0.9405328829631661
+tail,middle_block,27.1257511657578,0.07436207488856528,0.997231822122227,680.1003347223456,0.9680448431860317
+tail,output_blocks,34.33921122605997,0.09084766882358848,0.9946528522128408,2783.2747155045017,0.9411939539692619

unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,0,280.2974364757538,222.62210965156555,594.8468792438507,,,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,1,278.39780282974243,263.79847526550293,631.1490898132324,248.29391479492188,0.5954830348491669,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,2,271.6137807369232,273.2916352748871,636.110170841217,236.25765991210938,0.4667002558708191,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,3,245.0364842414856,283.77506828308105,617.538223028183,249.30770874023438,1.0358055084943771,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,4,284.9986810684204,275.54805278778076,650.6744635105133,207.08407592773438,0.5960751175880432,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,5,284.9088761806488,283.62235593795776,660.033664226532,240.29324340820312,0.6642566919326782,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,6,215.21792769432068,285.25258564949036,592.063677072525,199.34043884277344,0.3047751784324646,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,7,275.6039981842041,279.7054388523102,646.8606028556824,252.35719299316406,0.7150694131851196,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,8,290.9210216999054,236.45686388015747,618.9712822437286,237.7792510986328,0.5762709677219391,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,9,303.7573983669281,304.19383358955383,697.963686466217,238.32147216796875,0.07921820878982544,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,10,298.3891017436981,245.1036298274994,633.3536510467529,208.32626342773438,0.04748058319091797,

unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,275.3765917474573,,,,45.18181818181818,47.0,47.0,47.36363636363637,,231.73612213134766,0.5081134960055351,634.5059445771304,275.3765917474573,268.4881862727079,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,268.4881862727079,,,,45.09090909090909,47.0,47.0,47.27272727272727,,231.73612213134766,0.5081134960055351,634.5059445771304,275.3765917474573,268.4881862727079,

unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,0,34.37989640235901,34.63909649848938,143.22931694984436,,,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,1,35.077324628829956,33.83884024620056,142.67277145385742,245.08213806152344,0.6134413182735443,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,2,34.305031061172485,34.54054832458496,142.96974158287048,255.61647033691406,1.1861751824617386,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,3,34.740365982055664,34.54890441894531,141.4746015071869,237.42205810546875,0.6889934539794922,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,4,34.16229438781738,34.15966773033142,140.0571517944336,238.09585571289062,0.6259104013442993,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,5,34.35122799873352,34.6593816280365,140.6615960597992,209.327880859375,0.4293857216835022,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,6,33.89398980140686,34.60439848899841,141.34873366355896,256.2398681640625,0.7445662021636963,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,7,34.42725372314453,34.58678698539734,142.32319355010986,243.39788818359375,0.5739392042160034,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,8,34.5515410900116,34.53028988838196,142.91854548454285,186.45831298828125,0.049365460872650146,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,9,34.70419955253601,34.58964228630066,141.46709299087524,194.02230834960938,0.18750566244125366,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,10,34.47438168525696,33.904252767562866,141.05477142333984,231.18870544433594,0.453848659992218,

unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,34.46068239212036,,,,47.625,49.0,47.0,47.63636363636363,,229.68514862060547,0.5553131267428398,141.83431967821988,34.46068239212036,34.41834629665721,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,34.41834629665721,,,,47.0,48.8,47.18181818181818,47.54545454545455,,229.68514862060547,0.5553131267428398,141.83431967821988,34.46068239212036,34.41834629665721,

unitree_z1_dual_arm_stackbox_v2/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_v2/case3" \
+    "unitree_z1_dual_arm_stackbox_v2" \
+    "4" \
+    "11"

unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case3"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    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 "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"

unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,0,34.58336591720581,34.35174894332886,142.05735111236572,,,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,1,34.807106018066406,34.86327862739563,144.16768527030945,235.5131378173828,0.3439255952835083,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,2,34.52380657196045,34.07038402557373,141.07973194122314,259.55450439453125,1.1979307979345322,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,3,34.73806142807007,34.51879525184631,140.4986548423767,228.2439727783203,0.7015565633773804,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,4,34.56364035606384,34.5863573551178,141.2532799243927,233.71279907226562,0.5349503457546234,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,5,34.095723152160645,34.4039843082428,140.3526315689087,204.47723388671875,0.2700654864311218,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,6,34.46692442893982,34.41077995300293,141.16259741783142,253.46627807617188,0.8147276341915131,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,7,34.02199149131775,34.60529637336731,140.86116909980774,219.72276306152344,0.4421466588973999,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,8,34.57047963142395,34.605647802352905,144.16168022155762,214.1248016357422,0.05718517303466797,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,9,34.293241024017334,34.06853461265564,142.45936822891235,192.68353271484375,0.04669904708862305,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,10,34.26138091087341,34.6850950717926,142.63205909729004,197.61029052734375,0.18949097394943237,

unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,34.44779281182723,,,,46.9,48.42857142857143,46.72727272727273,47.27272727272727,,223.9109313964844,0.45986782759428024,141.88056442954323,34.44779281182723,34.469991120425135,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,34.469991120425135,,,,47.0,48.875,46.63636363636363,47.09090909090909,,223.9109313964844,0.45986782759428024,141.88056442954323,34.44779281182723,34.469991120425135,

unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case4"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    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 "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"