video_backbone剖析

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 @@
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unitree_z1_stackbox/case2/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-vid15-fs4,unitree_z1_stackbox,0,33.598512172698975,33.64687943458557,136.9866783618927,,,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,1,33.580137729644775,33.64670658111572,137.1244342327118,182.98992919921875,0.1366615891456604,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,2,33.56372117996216,33.59171915054321,137.0528929233551,202.21412658691406,0.2663969397544861,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,3,33.579209327697754,33.551541328430176,136.8609881401062,198.66949462890625,0.3131876587867737,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,4,33.58294653892517,33.45043182373047,136.76116609573364,228.17433166503906,0.18935197591781616,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,5,33.2904417514801,33.23065233230591,135.68956565856934,226.59591674804688,0.39681023359298706,
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unitree_z1_stackbox/case2/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/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

@@ -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/case2/output/sparse_8/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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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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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

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+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"