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video_backbone剖析

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qhy
2026-03-16 10:30:54 +08:00
parent 7e45eba18b
commit 8ca159d375
282 changed files with 174952 additions and 1350 deletions
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12
unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/round_summary.csv Normal file
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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,
1 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
2 unitree_z1_dual_arm_stackbox_v2-vid25-fs4 unitree_z1_dual_arm_stackbox_v2 0 34.37989640235901 34.63909649848938 143.22931694984436
3 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
4 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
5 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
6 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
7 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
8 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
9 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
10 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
11 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
12 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

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unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/sample_summary.csv Normal file
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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,
1 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
2 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
3 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

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unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/stepwise_log.csv Normal file
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