video_backbone剖析

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 @@
+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,33.61540007591248,33.61540007591248,,,,,,,,,,,47.333333333333336,47.333333333333336,,49.16666666666666,49.16666666666666,,47.833333333333336,47.833333333333336,,48.5,48.5,,136.81534445285797,136.81534445285797,,33.61540007591248,33.61540007591248,,33.641302605470024,33.641302605470024,,189.8770099986683,189.8770099986683,,0.3213974345814098,0.3213974345814098,
+unitree_z1_stackbox,world_model,33.641302605470024,33.641302605470024,,,,,,,,,,,47.75,47.75,,49.583333333333336,49.583333333333336,,48.0,48.0,,48.583333333333336,48.583333333333336,,136.81534445285797,136.81534445285797,,33.61540007591248,33.61540007591248,,33.641302605470024,33.641302605470024,,189.8770099986683,189.8770099986683,,0.3213974345814098,0.3213974345814098,

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

@@ -0,0 +1,13 @@
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unitree_z1_stackbox/case1/output/sparse_8/inference/sample_summary.csv

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