video_backbone剖析

unitree_z1_stackbox/case1/output/sparse_4/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=140.3915, median=142.7428, p90=164.6878, p95=174.8997
+
+### 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=50.0000, median=50.0000, p90=50.0000, p95=50.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3531, median=0.3490, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0262, median=0.0254, p90=0.0393, p95=0.0415
+- `state_delta_mid_steps`: mean=0.0266, median=0.0259, p90=0.0398, p95=0.0422
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=189.7540, median=190.2800, p90=226.9210, p95=230.7974
+- `action_drift_vs_prev_round`: mean=0.3214, median=0.2888, p90=0.4239, p95=0.4330
+- `round_total_time_s`: mean=135.6420, median=135.6454, p90=135.8290, p95=135.8488
+- `policy_pass_total_time_s`: mean=33.2703, median=33.2660, p90=33.3217, p95=33.3259
+- `world_model_pass_total_time_s`: mean=33.2944, median=33.2919, p90=33.3459, p95=33.3519
+

unitree_z1_stackbox/case1/output/sparse_4/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_stackbox,policy,33.27026762564977,33.27026762564977,,,,,,,,,,,49.083333333333336,49.083333333333336,,50.0,50.0,,47.833333333333336,47.833333333333336,,48.583333333333336,48.583333333333336,,135.64196491241455,135.64196491241455,,33.27026762564977,33.27026762564977,,33.29438763856888,33.29438763856888,,189.7540255459872,189.7540255459872,,0.3214141076261347,0.3214141076261347,
+unitree_z1_stackbox,world_model,33.29438763856888,33.29438763856888,,,,,,,,,,,49.5,49.5,,50.0,50.0,,48.0,48.0,,48.583333333333336,48.583333333333336,,135.64196491241455,135.64196491241455,,33.27026762564977,33.27026762564977,,33.29438763856888,33.29438763856888,,189.7540255459872,189.7540255459872,,0.3214141076261347,0.3214141076261347,

unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/step_aggregate.csv

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unitree_z1_stackbox/case1/output/sparse_4/inference/round_summary.csv

@@ -0,0 +1,13 @@
+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_stackbox-vid5-fs4,unitree_z1_stackbox,0,33.27191972732544,33.306596755981445,135.68116331100464,,,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,1,33.25992965698242,33.23532581329346,135.61867904663086,234.67388916015625,0.2519038915634155,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,2,33.208592891693115,33.263012170791626,135.39373064041138,198.16380310058594,0.28882336616516113,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,3,33.247267961502075,33.34622359275818,135.60927200317383,226.92098999023438,0.27082139253616333,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,4,33.26002907752991,33.27640676498413,135.6314880847931,180.04525756835938,0.3300052881240845,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,5,33.23884105682373,33.252143144607544,135.5209562778473,162.83668518066406,0.4239448308944702,
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unitree_z1_stackbox/case1/output/sparse_4/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
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+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,33.29438763856888,,,,49.5,50.0,48.0,48.583333333333336,,189.75402554598722,0.3214141076261347,135.64196491241455,33.27026762564977,33.29438763856888,

unitree_z1_stackbox/case1/output/sparse_8/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=140.3133, median=142.7209, p90=164.7352, p95=175.3040
+
+### 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=49.1667, median=49.1667, p90=49.1667, p95=49.1667
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3531, median=0.3490, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0253, median=0.0239, p90=0.0377, p95=0.0398
+- `state_delta_mid_steps`: mean=0.0257, median=0.0244, p90=0.0395, p95=0.0417
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=189.8770, median=190.5110, p90=227.1010, p95=230.8867
+- `action_drift_vs_prev_round`: mean=0.3214, median=0.2827, p90=0.4239, p95=0.4346
+- `round_total_time_s`: mean=136.8153, median=137.0675, p90=137.2455, p95=137.2743
+- `policy_pass_total_time_s`: mean=33.6154, median=33.6801, p90=33.7595, p95=33.7750
+- `world_model_pass_total_time_s`: mean=33.6413, median=33.7260, p90=33.7615, p95=33.7871
+

unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
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+,,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_stackbox/case1/output/sparse_8/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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unitree_z1_stackbox/case1/output/sparse_8/inference/round_summary.csv

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unitree_z1_stackbox/case1/output/sparse_8/inference/sample_summary.csv

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unitree_z1_stackbox/case1/output/tail_heavy/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=140.0402, median=142.7009, p90=163.0307, p95=169.4642
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3531, median=0.3490, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0285, median=0.0269, p90=0.0403, p95=0.0426
+- `state_delta_mid_steps`: mean=0.0280, median=0.0260, p90=0.0405, p95=0.0430
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=189.9747, median=190.3070, p90=221.4898, p95=228.0855
+- `action_drift_vs_prev_round`: mean=0.3169, median=0.2949, p90=0.4140, p95=0.4197
+- `round_total_time_s`: mean=136.5570, median=136.3772, p90=137.5081, p95=137.7435
+- `policy_pass_total_time_s`: mean=33.4946, median=33.4736, p90=33.6613, p95=33.7768
+- `world_model_pass_total_time_s`: mean=33.5496, median=33.5098, p90=33.8053, p95=33.8367
+

unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/scene_summary.csv

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unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/step_aggregate.csv

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unitree_z1_stackbox/case1/output/tail_heavy/inference/round_summary.csv

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unitree_z1_stackbox/case1/output/tail_heavy/inference/sample_summary.csv

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unitree_z1_stackbox/case1/output/tail_only/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=141.1901, median=142.0332, p90=166.0066, p95=186.4020
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3531, median=0.3490, p90=0.4171, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0265, median=0.0267, p90=0.0284, p95=0.0289
+- `state_delta_mid_steps`: mean=0.0255, median=0.0257, p90=0.0272, p95=0.0277
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=187.6076, median=186.7775, p90=215.7605, p95=225.2559
+- `action_drift_vs_prev_round`: mean=0.3243, median=0.3140, p90=0.4015, p95=0.4248
+- `round_total_time_s`: mean=136.4140, median=135.8684, p90=137.4286, p95=137.4493
+- `policy_pass_total_time_s`: mean=33.4775, median=33.3589, p90=33.7100, p95=33.7283
+- `world_model_pass_total_time_s`: mean=33.4718, median=33.3635, p90=33.7721, p95=33.7818
+

unitree_z1_stackbox/case1/output/tail_only/inference/analysis/scene_summary.csv

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+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,6,33.36349558830261,33.312692403793335,135.82729482650757,173.15196228027344,0.2923499345779419,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,7,33.32282996177673,33.30833172798157,135.7430338859558,177.69644165039062,0.296228289604187,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,8,33.338229179382324,33.273215532302856,135.757009267807,191.9154510498047,0.25993847846984863,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,9,33.26348614692688,33.27895975112915,135.56047129631042,143.25210571289062,0.4014594554901123,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,10,33.354397773742676,33.37948036193848,135.90947794914246,198.1466522216797,0.4481104612350464,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,11,33.3224093914032,33.265796422958374,135.75521874427795,186.77749633789062,0.32623910903930664,

unitree_z1_stackbox/case1/output/tail_only/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_stackbox-vid5-fs4,unitree_z1_stackbox,policy,33.47745096683502,,,,,,47.916666666666664,48.583333333333336,,187.60756197842684,0.3242991945960305,136.41395811239877,33.47745096683502,33.471762577692665,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,33.471762577692665,,,,,,48.0,48.583333333333336,,187.60756197842684,0.3242991945960305,136.41395811239877,33.47745096683502,33.471762577692665,

unitree_z1_stackbox/case1/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_stackbox/case1"
 dataset="unitree_z1_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 "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"

unitree_z1_stackbox/case2/output/sparse_4/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=141.4435, median=144.5419, p90=166.0574, p95=173.3142
+
+### 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=50.0000, median=50.0000, p90=50.0000, p95=50.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3493, p90=0.4172, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0261, median=0.0253, p90=0.0394, p95=0.0414
+- `state_delta_mid_steps`: mean=0.0263, median=0.0258, p90=0.0399, p95=0.0423
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=188.8859, median=191.4181, p90=226.5959, p95=227.3851
+- `action_drift_vs_prev_round`: mean=0.2896, median=0.3040, p90=0.3968, p95=0.4135
+- `round_total_time_s`: mean=136.1617, median=135.7664, p90=137.0463, p95=137.0851
+- `policy_pass_total_time_s`: mean=33.3914, median=33.3032, p90=33.5827, p95=33.5900
+- `world_model_pass_total_time_s`: mean=33.3831, median=33.2978, p90=33.6412, p95=33.6468
+

unitree_z1_stackbox/case2/output/sparse_4/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_stackbox,policy,33.391386806964874,33.391386806964874,,,,,,,,,,,49.333333333333336,49.333333333333336,,50.0,50.0,,47.91666666666666,47.91666666666666,,48.75,48.75,,136.16174946228662,136.16174946228662,,33.391386806964874,33.391386806964874,,33.38307040929794,33.38307040929794,,188.8859003240412,188.8859003240412,,0.2895921197804538,0.2895921197804538,
+unitree_z1_stackbox,world_model,33.38307040929794,33.38307040929794,,,,,,,,,,,49.5,49.5,,50.0,50.0,,48.0,48.0,,48.583333333333336,48.583333333333336,,136.16174946228662,136.16174946228662,,33.391386806964874,33.391386806964874,,33.38307040929794,33.38307040929794,,188.8859003240412,188.8859003240412,,0.2895921197804538,0.2895921197804538,

unitree_z1_stackbox/case2/output/sparse_4/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,1,0.6903221805890402,0.6893312931060791,0.00320968565426132,1.4144855240980785,1.41507887840271,0.0020224500221489475,0.07658687544365719,0.0780486240983009,0.004996536959319065,0.06338030348221457,0.0628294441848993,0.011330927900103057,0.22287592384964225,0.22199922800064084,0.10318404752977502,0.25398756687839824,0.22626388072967524,0.08025441595058455,145.8760223388672,142.73480987548828,10.351143006673338
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unitree_z1_stackbox/case2/output/sparse_4/inference/round_summary.csv

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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
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+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,1,33.580137729644775,33.64670658111572,137.1244342327118,182.98992919921875,0.1366615891456604,
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unitree_z1_stackbox/case2/output/sparse_4/inference/sample_summary.csv

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unitree_z1_stackbox/case2/output/sparse_8/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=142.9924, median=145.0568, p90=168.1628, p95=180.0693
+
+### 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=49.2727, median=49.2727, p90=49.2727, p95=49.2727
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3493, p90=0.4171, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0253, median=0.0242, p90=0.0380, p95=0.0402
+- `state_delta_mid_steps`: mean=0.0256, median=0.0244, p90=0.0392, p95=0.0417
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5000, median=48.5000, p90=48.5000, p95=48.5000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=195.9648, median=198.1584, p90=228.1816, p95=230.3799
+- `action_drift_vs_prev_round`: mean=0.3005, median=0.3137, p90=0.3956, p95=0.4131
+- `round_total_time_s`: mean=136.1817, median=135.9244, p90=137.1063, p95=137.2927
+- `policy_pass_total_time_s`: mean=33.4931, median=33.4061, p90=33.8189, p95=33.8656
+- `world_model_pass_total_time_s`: mean=33.4701, median=33.4152, p90=33.6619, p95=33.7652
+

unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/scene_summary.csv

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unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/step_aggregate.csv

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unitree_z1_stackbox/case2/output/sparse_8/inference/round_summary.csv

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unitree_z1_stackbox/case2/output/sparse_8/inference/sample_summary.csv

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unitree_z1_stackbox/case2/output/tail_heavy/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=142.6289, median=144.5586, p90=167.9305, p95=179.0075
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3493, p90=0.4172, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0282, median=0.0265, p90=0.0407, p95=0.0431
+- `state_delta_mid_steps`: mean=0.0283, median=0.0265, p90=0.0407, p95=0.0430
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5000, median=48.5000, p90=48.5000, p95=48.5000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=195.2020, median=196.3304, p90=227.3101, p95=227.7866
+- `action_drift_vs_prev_round`: mean=0.2987, median=0.3147, p90=0.3992, p95=0.4145
+- `round_total_time_s`: mean=137.2902, median=137.2647, p90=137.5864, p95=137.6133
+- `policy_pass_total_time_s`: mean=33.6689, median=33.6776, p90=33.7538, p95=33.7639
+- `world_model_pass_total_time_s`: mean=33.7016, median=33.6754, p90=33.7749, p95=33.8030
+

unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/scene_summary.csv

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+,,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_stackbox/case2/output/tail_heavy/inference/analysis/step_aggregate.csv

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unitree_z1_stackbox/case2/output/tail_heavy/inference/round_summary.csv

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unitree_z1_stackbox/case2/output/tail_heavy/inference/sample_summary.csv

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unitree_z1_stackbox/case2/output/tail_only/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=143.1634, median=145.9226, p90=168.6317, p95=179.9511
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3494, p90=0.4172, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0259, median=0.0260, p90=0.0278, p95=0.0283
+- `state_delta_mid_steps`: mean=0.0256, median=0.0259, p90=0.0275, p95=0.0280
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5000, median=48.5000, p90=48.5000, p95=48.5000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=195.8778, median=198.9463, p90=228.5887, p95=231.0987
+- `action_drift_vs_prev_round`: mean=0.3082, median=0.2914, p90=0.4274, p95=0.4676
+- `round_total_time_s`: mean=136.2031, median=135.6879, p90=137.1983, p95=137.3254
+- `policy_pass_total_time_s`: mean=33.4310, median=33.2871, p90=33.6572, p95=33.7302
+- `world_model_pass_total_time_s`: mean=33.4053, median=33.3299, p90=33.6440, p95=33.6635
+

unitree_z1_stackbox/case2/output/tail_only/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
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+,,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_stackbox,policy,33.43100051085154,33.43100051085154,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.66666666666666,48.66666666666666,,136.20309495925903,136.20309495925903,,33.43100051085154,33.43100051085154,,33.40530186891556,33.40530186891556,,195.87780484286225,195.87780484286225,,0.3081676499410109,0.3081676499410109,
+unitree_z1_stackbox,world_model,33.40530186891556,33.40530186891556,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.5,48.5,,136.20309495925903,136.20309495925903,,33.43100051085154,33.43100051085154,,33.40530186891556,33.40530186891556,,195.87780484286225,195.87780484286225,,0.3081676499410109,0.3081676499410109,

unitree_z1_stackbox/case2/output/tail_only/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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+,,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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+world_model,49,0.6505865454673767,0.6491190195083618,0.0037999656483025833,0.13748489071925477,0.13773898780345917,0.0014404315010418357,0.13319396413862702,0.13469374924898145,0.005228671847872024,0.14120123162865636,0.1419578194618225,0.007148204843828125,0.4735482955972354,0.4737952202558517,0.03169341993928556,0.5544867639740308,0.5653363466262817,0.056978043797542836,123.20625559488933,114.9144401550293,19.462418077889243
+world_model,50,0.6921356121699015,0.6910427808761597,0.003835981267496358,0.11302545169989263,0.1131943985819816,0.001871259778031588,0.19973485916852948,0.2025060802698135,0.009748770407272138,0.2153307956953843,0.21709760278463358,0.015065598184770754,0.5566245714823405,0.5550082325935364,0.030569568093278425,0.6351107209920883,0.6396362483501434,0.055088454684889286,124.05753262837727,115.78503036499023,19.404142104705112

unitree_z1_stackbox/case2/output/tail_only/inference/round_summary.csv

@@ -0,0 +1,13 @@
+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_stackbox-vid15-fs4,unitree_z1_stackbox,0,33.81796932220459,33.68589448928833,137.47754526138306,,,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,1,33.57750058174133,33.595130920410156,136.89927458763123,183.14080810546875,0.1372295618057251,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,2,33.647106885910034,33.63294816017151,137.2008819580078,202.25558471679688,0.2765251398086548,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,3,33.658308029174805,33.64525532722473,137.17505478858948,198.9462890625,0.31010133028030396,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,4,33.62711262702942,33.2389497756958,136.4627296924591,228.58872985839844,0.188970685005188,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,5,33.24535775184631,33.34982371330261,135.61933279037476,224.8097686767578,0.4273681044578552,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,6,33.29147458076477,33.333478689193726,135.68924713134766,205.70828247070312,0.386982798576355,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,7,33.28269958496094,33.1904878616333,135.50555610656738,185.3961639404297,0.2301298975944519,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,8,33.265252351760864,33.32351541519165,135.65442442893982,137.7252197265625,0.3589021563529968,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,9,33.278624296188354,33.326239585876465,135.6465072631836,195.47999572753906,0.507753998041153,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,10,33.20101833343506,33.24258208274841,135.41999006271362,158.99642944335938,0.2744366526603699,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,11,33.279581785202026,33.29931640625,135.6865954399109,233.60858154296875,0.2914438247680664,

unitree_z1_stackbox/case2/output/tail_only/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_stackbox-vid15-fs4,unitree_z1_stackbox,policy,33.43100051085154,,,,,,47.916666666666664,48.666666666666664,,195.87780484286222,0.3081676499410109,136.20309495925903,33.43100051085154,33.40530186891556,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,world_model,33.40530186891556,,,,,,47.916666666666664,48.5,,195.87780484286222,0.3081676499410109,136.20309495925903,33.43100051085154,33.40530186891556,

unitree_z1_stackbox/case2/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_stackbox/case2"
 dataset="unitree_z1_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 "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"

unitree_z1_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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=107.9246, median=129.6718, p90=142.9009, p95=147.0314
+
+### 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=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3534, median=0.3491, p90=0.4166, p95=0.4278
+- `action_delta_mid_steps`: mean=0.0272, median=0.0258, p90=0.0401, p95=0.0428
+- `state_delta_mid_steps`: mean=0.0275, median=0.0262, p90=0.0411, p95=0.0436
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.2500, median=48.2500, p90=48.2500, p95=48.2500
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=183.6162, median=172.3158, p90=212.9301, p95=227.2113
+- `action_drift_vs_prev_round`: mean=0.2558, median=0.2455, p90=0.3288, p95=0.3382
+- `round_total_time_s`: mean=629.5064, median=648.1064, p90=668.6221, p95=670.7842
+- `policy_pass_total_time_s`: mean=261.6829, median=277.3413, p90=290.1827, p95=293.3132
+- `world_model_pass_total_time_s`: mean=277.8026, median=282.0880, p90=297.6364, p95=299.5259
+

unitree_z1_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
+unitree_z1_stackbox,policy,261.6828729510308,261.6828729510308,,,,,,,,,,,45.91666666666666,45.91666666666666,,47.833333333333336,47.833333333333336,,47.833333333333336,47.833333333333336,,48.333333333333336,48.333333333333336,,629.5063543518385,629.5063543518385,,261.6828729510308,261.6828729510308,,277.8026314973831,277.8026314973831,,183.6161651611328,183.6161651611328,,0.2558029510758139,0.2558029510758139,
+unitree_z1_stackbox,world_model,277.8026314973831,277.8026314973831,,,,,,,,,,,46.0,46.0,,47.75,47.75,,47.75,47.75,,48.25,48.25,,629.5063543518385,629.5063543518385,,261.6828729510308,261.6828729510308,,277.8026314973831,277.8026314973831,,183.6161651611328,183.6161651611328,,0.2558029510758139,0.2558029510758139,

unitree_z1_stackbox/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,1,2.8845879236857095,3.0433239936828613,0.5394880865297181,1.4143003225326538,1.4141246676445007,0.002046915199860231,0.08488429524004455,0.08204169198870655,0.014556679362970632,0.06937839897970353,0.0688993632793426,0.01773644777324086,0.21034946168462432,0.1763020530343055,0.09388799420466229,0.1955660519500573,0.17937317490577695,0.041582709964811546,146.69524765014648,146.4008026123047,4.713386839273348
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unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md

@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 30000
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=30.6579, median=34.4826, p90=54.4240
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.135295, median=0.111123, p90=0.228920
+- `cosine_vs_prev`: mean=0.987331, median=0.994399, p90=0.998716
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.043625, mean_forward_time_ms=42.8631
+- `output_4` (output_blocks): tail_rel_l2=0.049498, mean_forward_time_ms=40.4440
+- `output_2` (output_blocks): tail_rel_l2=0.051888, mean_forward_time_ms=4.1717
+- `output_3` (output_blocks): tail_rel_l2=0.054181, mean_forward_time_ms=40.1228
+- `output_1` (output_blocks): tail_rel_l2=0.067320, mean_forward_time_ms=3.4706
+- `output_6` (output_blocks): tail_rel_l2=0.068327, mean_forward_time_ms=42.6822
+- `output_0` (output_blocks): tail_rel_l2=0.069596, mean_forward_time_ms=3.4777
+- `middle` (middle_block): tail_rel_l2=0.073528, mean_forward_time_ms=27.7004
+- `input_9` (input_blocks): tail_rel_l2=0.074634, mean_forward_time_ms=0.6786
+- `input_7` (input_blocks): tail_rel_l2=0.074664, mean_forward_time_ms=40.6067

unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv

@@ -0,0 +1,26 @@
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unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv

@@ -0,0 +1,10 @@
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unitree_z1_stackbox/case3/backbone_profile_dense/inference/round_summary.csv

@@ -0,0 +1,13 @@
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+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,4,296.6695604324341,285.0917410850525,673.2194304466248,167.99044799804688,0.22527706623077393,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,5,278.56303429603577,298.6220200061798,668.7917900085449,174.95765686035156,0.3287593126296997,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,6,267.05474853515625,282.11378479003906,638.8288781642914,172.1045379638672,0.26524674892425537,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,7,284.06689190864563,281.10928320884705,655.1283934116364,171.8326873779297,0.23548972606658936,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,8,285.5426595211029,282.06214570999146,657.7242078781128,212.9300994873047,0.24315547943115234,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,9,235.07834649085999,300.6306447982788,625.8992779254913,172.31582641601562,0.25560462474823,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,10,290.567090511322,283.49824380874634,665.4987998008728,159.1429901123047,0.13671576976776123,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,11,286.7230350971222,288.7662036418915,667.0947260856628,159.94544982910156,0.2373533844947815,

unitree_z1_stackbox/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_stackbox-vid25-fs4,unitree_z1_stackbox,policy,261.68287295103073,,,,45.916666666666664,47.833333333333336,47.833333333333336,48.333333333333336,,183.6161651611328,0.25580295107581397,629.5063543518385,261.68287295103073,277.8026314973831,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,277.8026314973831,,,,46.0,47.75,47.75,48.25,,183.6161651611328,0.25580295107581397,629.5063543518385,261.68287295103073,277.8026314973831,

unitree_z1_stackbox/case3/output/sparse_4/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_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=142.5514, median=146.1818, p90=160.5933, p95=163.3348
+
+### 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=50.0000, median=50.0000, p90=50.0000, p95=50.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3534, median=0.3491, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0266, median=0.0257, p90=0.0399, p95=0.0421
+- `state_delta_mid_steps`: mean=0.0268, median=0.0262, p90=0.0402, p95=0.0428
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.6667, median=47.6667, p90=47.6667, p95=47.6667
+- `oracle_budget_state`: mean=48.3333, median=48.3333, p90=48.3333, p95=48.3333
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.6667, median=47.6667, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=187.2331, median=177.0439, p90=206.7721, p95=222.7666
+- `action_drift_vs_prev_round`: mean=0.2498, median=0.2648, p90=0.2955, p95=0.3068
+- `round_total_time_s`: mean=135.6634, median=135.6054, p90=135.7116, p95=136.1716
+- `policy_pass_total_time_s`: mean=33.2696, median=33.2571, p90=33.2790, p95=33.4053
+- `world_model_pass_total_time_s`: mean=33.2670, median=33.2808, p90=33.3028, p95=33.3132
+