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"