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_only/inference/analysis/analysis_report.md
+++ b/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
+
--- a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/budget_distribution.png
+++ b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/budget_distribution.png
--- a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/convergence_curves.png
+++ b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/convergence_curves.png
--- a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/midstep_latent_delta.png
+++ b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/midstep_latent_delta.png
--- a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/round_reuse.png
+++ b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/round_reuse.png
--- a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/scene_summary.csv
+++ b/unitree_z1_stackbox/case1/output/tail_only/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,33.47745096683502,33.47745096683502,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.583333333333336,48.583333333333336,,136.41395811239877,136.41395811239877,,33.47745096683502,33.47745096683502,,33.471762577692665,33.471762577692665,,187.60756197842684,187.60756197842684,,0.3242991945960305,0.3242991945960305,
+unitree_z1_stackbox,world_model,33.471762577692665,33.471762577692665,,,,,,,,,,,,,,,,,48.0,48.0,,48.583333333333336,48.583333333333336,,136.41395811239877,136.41395811239877,,33.47745096683502,33.47745096683502,,33.471762577692665,33.471762577692665,,187.60756197842684,187.60756197842684,,0.3242991945960305,0.3242991945960305,
--- a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/step_aggregate.csv
+++ b/unitree_z1_stackbox/case1/output/tail_only/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_only/inference/round_summary.csv
+++ b/unitree_z1_stackbox/case1/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-vid5-fs4,unitree_z1_stackbox,0,33.713300943374634,33.69179105758667,137.21678757667542,,,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,1,33.68004107475281,33.78276443481445,137.3568503856659,234.75125122070312,0.24507379531860352,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,2,33.67494440078735,33.78102135658264,137.43657684326172,206.78143310546875,0.31403499841690063,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,3,33.746617555618286,33.667547941207886,137.4647479057312,215.76051330566406,0.28640663623809814,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,4,33.66131114959717,33.5719690322876,137.15576910972595,171.41673278808594,0.3170364499092102,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,5,33.28834843635559,33.347580909729004,135.784259557724,164.03314208984375,0.3804135322570801,
+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,
--- a/unitree_z1_stackbox/case1/output/tail_only/inference/sample_summary.csv
+++ b/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,
--- a/unitree_z1_stackbox/case1/output/tail_only/inference/stepwise_log.csv
+++ b/unitree_z1_stackbox/case1/output/tail_only/inference/stepwise_log.csv