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_only/inference/analysis/analysis_report.md
+++ b/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
+
--- a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/budget_distribution.png
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/budget_distribution.png
--- a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/convergence_curves.png
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/convergence_curves.png
--- a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/midstep_latent_delta.png
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/midstep_latent_delta.png
--- a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/round_reuse.png
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/round_reuse.png
--- a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/scene_summary.csv
+++ b/unitree_z1_stackbox/case2/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,33.43100051085154,33.43100051085154,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.66666666666666,48.66666666666666,,136.20309495925903,136.20309495925903,,33.43100051085154,33.43100051085154,,33.40530186891556,33.40530186891556,,195.87780484286225,195.87780484286225,,0.3081676499410109,0.3081676499410109,
+unitree_z1_stackbox,world_model,33.40530186891556,33.40530186891556,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.5,48.5,,136.20309495925903,136.20309495925903,,33.43100051085154,33.43100051085154,,33.40530186891556,33.40530186891556,,195.87780484286225,195.87780484286225,,0.3081676499410109,0.3081676499410109,
--- a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/step_aggregate.csv
+++ b/unitree_z1_stackbox/case2/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/case2/output/tail_only/inference/round_summary.csv
+++ b/unitree_z1_stackbox/case2/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-vid15-fs4,unitree_z1_stackbox,0,33.81796932220459,33.68589448928833,137.47754526138306,,,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,1,33.57750058174133,33.595130920410156,136.89927458763123,183.14080810546875,0.1372295618057251,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,2,33.647106885910034,33.63294816017151,137.2008819580078,202.25558471679688,0.2765251398086548,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,3,33.658308029174805,33.64525532722473,137.17505478858948,198.9462890625,0.31010133028030396,
+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,
--- a/unitree_z1_stackbox/case2/output/tail_only/inference/sample_summary.csv
+++ b/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,
--- a/unitree_z1_stackbox/case2/output/tail_only/inference/stepwise_log.csv
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/stepwise_log.csv