video_backbone剖析

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

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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 @@
+block_stage,block_name,block_index,mean_forward_time_ms,mean_rel_l2_delta_vs_prev,mean_cosine_vs_prev,mean_l2_delta_vs_full50,mean_cosine_vs_full50,mid_mean_rel_l2_delta_vs_prev,mid_mean_cosine_vs_prev,mid_mean_forward_time_ms,tail_mean_rel_l2_delta_vs_prev,tail_mean_cosine_vs_prev,tail_mean_forward_time_ms
+output_blocks,output_5,5,42.888979587534614,0.08300206301550693,0.996678345997391,14341.677929909447,0.863953615047715,0.07756747103001901,0.997719641113694,42.34975767805689,0.043010581725022964,1.0001999310471794,44.3648354256187
+output_blocks,output_4,4,40.39571003734388,0.09455556868262764,0.9947885434680613,2941.0275359275124,0.8140252876281738,0.09529791555460135,0.9951540448448875,40.97264766132709,0.05202072066339575,0.9987793792377818,40.32575958196751
+output_blocks,output_2,2,4.338073578917167,0.09247576903918121,0.9952283400440923,3389.3004317405007,0.816305120749907,0.09152244776487346,0.9956385423610736,4.108044065865668,0.0546256663785739,0.9986851917071776,4.434941715391522
+output_blocks,output_6,6,42.509775959293954,0.1031627392738449,0.9938640466758183,6499.312693314986,0.8492326059666547,0.09985839341690525,0.9948743464368762,42.659883656502736,0.057487927546555295,0.9988166703419252,42.0250438217243
+output_blocks,output_3,3,40.02807591999458,0.10258518065738872,0.9940154888634337,3096.537198791504,0.8029762296514078,0.10629083972537151,0.9940268722447482,39.70838411110433,0.057636056078428526,0.9984638081355528,40.05269758741964
+output_blocks,output_8,8,44.63011315515773,0.1108428336064813,0.9957228095058165,11701.590108087714,0.8437018071521413,0.10079244100105707,0.997612685094148,44.83389774200333,0.06261350427838884,1.0019899552518672,43.80798323333941
+output_blocks,output_1,1,3.3246938380497424,0.11700774431712438,0.9922771146987498,1336.798724601052,0.7281625714898109,0.12132317963100613,0.9921765486141304,3.421792723198151,0.06982600660147988,0.9975653835318306,3.123901767486876
+output_blocks,output_0,0,3.469341620379551,0.12035685624229217,0.9918557426482716,1578.6410553117232,0.7242678229646249,0.12504259061503714,0.9917026673044477,3.3715244713219215,0.0713012579659169,0.9974602566523986,3.7477676989510655
+input_blocks,input_5,5,44.802298740145154,0.092265906907853,0.9969895348256949,1659.6117815329812,0.8961069971864873,0.09454008634504556,0.9968631299801203,44.820137916624674,0.07308332127603613,0.9985320484096354,44.95341897180135
+input_blocks,input_7,7,40.752132129855454,0.12073280131150592,0.9920238213326803,1666.1764444663308,0.7885402167114345,0.12889842693069017,0.9913593502271743,40.3886149048773,0.0732463242147456,0.9974477643316443,41.96822076019916
+middle_block,middle,0,26.881818174045872,0.12626233537282258,0.9910653428708468,1969.6660104924981,0.7297855755957691,0.133217600645957,0.9905916145353606,26.31709240961546,0.07436207488856528,0.997231822122227,27.1257511657578
+input_blocks,input_9,9,0.6882936278866096,0.12674058290243365,0.9910115387311451,1581.9167321083762,0.7598932097716765,0.13660328952974568,0.9901355786240978,0.667502475676663,0.07518614279952911,0.9971738352016969,0.68464839449999
+output_blocks,output_7,7,42.28525943757797,0.1252693229722954,0.9909814634880463,4265.476728515625,0.8155850872668353,0.11781045062330374,0.9927432040373484,42.974110178697806,0.07526502880183128,0.9975943126461723,41.89587726300074
+input_blocks,input_10,10,2.757532289251685,0.12821796636316568,0.9907667583791134,1634.1818495039506,0.7493598437038335,0.1376909446051884,0.9899618099262188,2.805791467678173,0.07555509092794219,0.9971447955478322,2.541983025995168
+input_blocks,input_11,11,2.7716040298004043,0.1283340541497287,0.990757050120543,1716.6382186334783,0.7418239109353586,0.13675159370744377,0.9900973230213314,2.704982864529346,0.07564202440394592,0.9971378115090457,2.7687712339684367
+input_blocks,input_8,8,40.82639580126852,0.13238648992854274,0.9903591387457662,1484.3200962413441,0.7474134890599684,0.14425794156147284,0.9891381454674196,40.56829842234845,0.07924341070042411,0.9970042272047563,40.33547561954368
+input_blocks,input_6,6,0.5992580023170873,0.1411223548476572,0.9892397023087751,1798.4521859186345,0.7893295041539452,0.1470424216805082,0.9888165631851593,0.6070019963532041,0.08992217718200245,0.9960264758630233,0.5442784781652418
+output_blocks,output_9,9,49.19118449261243,0.16417970824883021,0.9860317909430042,5377.492994273793,0.7989661346240478,0.14807483131364307,0.989540507654091,49.4096311528913,0.11909108791838988,0.9940392212434248,48.82284345486286
+input_blocks,input_4,4,44.796154511753805,0.18086610819473997,0.9831449633294885,1917.856811578924,0.7300057735226371,0.17413312356386862,0.9849647437081193,44.761379866243956,0.13513692688535556,0.9912949984723871,44.79411626446315
+output_blocks,output_10,10,49.400705085135996,0.20161272358695295,0.9789533286678548,4285.061219260476,0.725754956277934,0.17989640234610732,0.9844266706472867,48.885705639926705,0.16064076613296158,0.9881625961173665,49.48219067671082
+input_blocks,input_3,3,0.6696297283369032,0.21786470054640175,0.9748679770498859,2060.156006747159,0.6981515774943612,0.1972636653037814,0.9805707441263901,0.6611740672194855,0.17389254820617758,0.9851784459569237,0.7216561374000527
+input_blocks,input_0,0,30.327858103185214,0.3700483660308682,0.9104118456784117,1289.095896800648,0.5150623727115717,0.3283721273079579,0.9461405583016285,30.317070737714957,0.18631631088527764,0.9842081013050946,30.32109977000139
+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"