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/case2/output/tail_heavy/inference/analysis/analysis_report.md
+++ b/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
+
--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/budget_distribution.png
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/budget_distribution.png
--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/convergence_curves.png
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/convergence_curves.png
--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/midstep_latent_delta.png
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/midstep_latent_delta.png
--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/round_reuse.png
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/round_reuse.png
--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/scene_summary.csv
+++ b/unitree_z1_stackbox/case2/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,33.66891705989838,33.66891705989838,,,,,,,,,,,50.0,50.0,,,,,47.91666666666666,47.91666666666666,,48.66666666666666,48.66666666666666,,137.2901853521665,137.2901853521665,,33.66891705989838,33.66891705989838,,33.70158894856771,33.70158894856771,,195.20201943137428,195.20201943137428,,0.2987296960570595,0.2987296960570595,
+unitree_z1_stackbox,world_model,33.70158894856771,33.70158894856771,,,,,,,,,,,50.0,50.0,,,,,48.0,48.0,,48.5,48.5,,137.2901853521665,137.2901853521665,,33.66891705989838,33.66891705989838,,33.70158894856771,33.70158894856771,,195.20201943137428,195.20201943137428,,0.2987296960570595,0.2987296960570595,
--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/step_aggregate.csv
+++ b/unitree_z1_stackbox/case2/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
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--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/round_summary.csv
+++ b/unitree_z1_stackbox/case2/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-vid15-fs4,unitree_z1_stackbox,0,33.44774794578552,33.77887940406799,137.01538968086243,,,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,1,33.698421001434326,33.739195108413696,137.3188512325287,183.0064697265625,0.13657867908477783,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,2,33.733859062194824,33.67693591117859,137.64068460464478,202.215576171875,0.26694536209106445,
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+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,4,33.61385440826416,33.673051834106445,137.0174412727356,228.2631072998047,0.19081157445907593,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,5,33.667787075042725,33.832521200180054,137.59081101417542,226.5458221435547,0.3991870880126953,
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+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,10,33.65160059928894,33.65471649169922,137.02034163475037,174.2640838623047,0.330205500125885,
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--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/sample_summary.csv
+++ b/unitree_z1_stackbox/case2/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-vid15-fs4,unitree_z1_stackbox,policy,33.66891705989838,,,,50.0,,47.916666666666664,48.666666666666664,,195.20201943137428,0.29872969605705957,137.2901853521665,33.66891705989838,33.70158894856771,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,world_model,33.70158894856771,,,,50.0,,48.0,48.5,,195.20201943137428,0.29872969605705957,137.2901853521665,33.66891705989838,33.70158894856771,
--- a/unitree_z1_stackbox/case2/output/tail_heavy/inference/stepwise_log.csv
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/inference/stepwise_log.csv