video_backbone剖析

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 @@
+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,33.49307539065679,33.49307539065679,,,,,,,,,,,47.5,47.5,,49.27272727272727,49.27272727272727,,47.91666666666666,47.91666666666666,,48.583333333333336,48.583333333333336,,136.1817115743955,136.1817115743955,,33.49307539065679,33.49307539065679,,33.47008717060089,33.47008717060089,,195.96483820134944,195.96483820134944,,0.3005240559577942,0.3005240559577942,
+unitree_z1_stackbox,world_model,33.47008717060089,33.47008717060089,,,,,,,,,,,47.583333333333336,47.583333333333336,,49.66666666666666,49.66666666666666,,47.91666666666666,47.91666666666666,,48.5,48.5,,136.1817115743955,136.1817115743955,,33.49307539065679,33.49307539065679,,33.47008717060089,33.47008717060089,,195.96483820134944,195.96483820134944,,0.3005240559577942,0.3005240559577942,

unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/step_aggregate.csv

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unitree_z1_stackbox/case2/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,13 @@
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unitree_z1_stackbox/case2/output/sparse_8/inference/sample_summary.csv

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