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 @@
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unitree_z1_stackbox/case2/output/sparse_4/inference/sample_summary.csv

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