video_backbone剖析

2026-03-16 10:30:54 +08:00
parent 7e45eba18b
commit 8ca159d375
282 changed files with 174952 additions and 1350 deletions
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/analysis_report.md
+++ b/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
+
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/budget_distribution.png
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/budget_distribution.png
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/convergence_curves.png
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/convergence_curves.png
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/midstep_latent_delta.png
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/midstep_latent_delta.png
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/round_reuse.png
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/round_reuse.png
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/scene_summary.csv
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/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,33.49463204542796,33.49463204542796,,,,,,,,,,,50.0,50.0,,,,,47.833333333333336,47.833333333333336,,48.583333333333336,48.583333333333336,,136.55701822042465,136.55701822042465,,33.49463204542796,33.49463204542796,,33.54961313803991,33.54961313803991,,189.9746690229936,189.9746690229936,,0.3168776577169245,0.3168776577169245,
+unitree_z1_stackbox,world_model,33.54961313803991,33.54961313803991,,,,,,,,,,,,,,,,,48.0,48.0,,48.583333333333336,48.583333333333336,,136.55701822042465,136.55701822042465,,33.49463204542796,33.49463204542796,,33.54961313803991,33.54961313803991,,189.9746690229936,189.9746690229936,,0.3168776577169245,0.3168776577169245,
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/step_aggregate.csv
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/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
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--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/round_summary.csv
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/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,0,33.915931940078735,33.76093292236328,138.01156544685364,,,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,1,33.64682936668396,33.81027674674988,137.363787651062,234.68121337890625,0.2508198618888855,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,2,33.61689496040344,33.86910033226013,137.2965247631073,205.4624786376953,0.2948818802833557,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,3,33.627365827560425,33.60335445404053,137.19369459152222,221.48983764648438,0.26892000436782837,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,4,33.643781661987305,33.683716773986816,136.8988552093506,180.05551147460938,0.33073168992996216,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,5,33.66292476654053,33.7549090385437,137.5240867137909,162.93272399902344,0.4139672517776489,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,6,33.296470165252686,33.33035898208618,135.65096735954285,182.12205505371094,0.3381901979446411,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,7,33.330153703689575,33.38572883605957,135.7956817150116,182.05560302734375,0.27068275213241577,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,8,33.32639265060425,33.3847599029541,135.81704020500183,193.3285675048828,0.25321000814437866,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,9,33.300163984298706,33.269770860672,135.6643192768097,146.59442138671875,0.36928313970565796,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,10,33.23830795288086,33.32614493370056,135.61224508285522,190.30703735351562,0.42552101612091064,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,11,33.33036756515503,33.416303873062134,135.855450630188,190.69190979003906,0.2694464325904846,
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/sample_summary.csv
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/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,33.494632045427956,,,,50.0,,47.833333333333336,48.583333333333336,,189.9746690229936,0.3168776577169245,136.55701822042465,33.494632045427956,33.54961313803991,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,33.54961313803991,,,,,,48.0,48.583333333333336,,189.9746690229936,0.3168776577169245,136.55701822042465,33.494632045427956,33.54961313803991,
--- a/unitree_z1_stackbox/case1/output/tail_heavy/inference/stepwise_log.csv
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/stepwise_log.csv