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 @@
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unitree_z1_stackbox/case1/output/sparse_4/inference/sample_summary.csv

@@ -0,0 +1,3 @@
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