video_backbone剖析

unitree_z1_stackbox/case3/backbone_profile_dense/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=107.9246, median=129.6718, p90=142.9009, p95=147.0314
+
+### 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=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3534, median=0.3491, p90=0.4166, p95=0.4278
+- `action_delta_mid_steps`: mean=0.0272, median=0.0258, p90=0.0401, p95=0.0428
+- `state_delta_mid_steps`: mean=0.0275, median=0.0262, p90=0.0411, p95=0.0436
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.2500, median=48.2500, p90=48.2500, p95=48.2500
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=183.6162, median=172.3158, p90=212.9301, p95=227.2113
+- `action_drift_vs_prev_round`: mean=0.2558, median=0.2455, p90=0.3288, p95=0.3382
+- `round_total_time_s`: mean=629.5064, median=648.1064, p90=668.6221, p95=670.7842
+- `policy_pass_total_time_s`: mean=261.6829, median=277.3413, p90=290.1827, p95=293.3132
+- `world_model_pass_total_time_s`: mean=277.8026, median=282.0880, p90=297.6364, p95=299.5259
+

unitree_z1_stackbox/case3/backbone_profile_dense/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,261.6828729510308,261.6828729510308,,,,,,,,,,,45.91666666666666,45.91666666666666,,47.833333333333336,47.833333333333336,,47.833333333333336,47.833333333333336,,48.333333333333336,48.333333333333336,,629.5063543518385,629.5063543518385,,261.6828729510308,261.6828729510308,,277.8026314973831,277.8026314973831,,183.6161651611328,183.6161651611328,,0.2558029510758139,0.2558029510758139,
+unitree_z1_stackbox,world_model,277.8026314973831,277.8026314973831,,,,,,,,,,,46.0,46.0,,47.75,47.75,,47.75,47.75,,48.25,48.25,,629.5063543518385,629.5063543518385,,261.6828729510308,261.6828729510308,,277.8026314973831,277.8026314973831,,183.6161651611328,183.6161651611328,,0.2558029510758139,0.2558029510758139,

unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv

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unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md

@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 30000
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=30.6579, median=34.4826, p90=54.4240
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.135295, median=0.111123, p90=0.228920
+- `cosine_vs_prev`: mean=0.987331, median=0.994399, p90=0.998716
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.043625, mean_forward_time_ms=42.8631
+- `output_4` (output_blocks): tail_rel_l2=0.049498, mean_forward_time_ms=40.4440
+- `output_2` (output_blocks): tail_rel_l2=0.051888, mean_forward_time_ms=4.1717
+- `output_3` (output_blocks): tail_rel_l2=0.054181, mean_forward_time_ms=40.1228
+- `output_1` (output_blocks): tail_rel_l2=0.067320, mean_forward_time_ms=3.4706
+- `output_6` (output_blocks): tail_rel_l2=0.068327, mean_forward_time_ms=42.6822
+- `output_0` (output_blocks): tail_rel_l2=0.069596, mean_forward_time_ms=3.4777
+- `middle` (middle_block): tail_rel_l2=0.073528, mean_forward_time_ms=27.7004
+- `input_9` (input_blocks): tail_rel_l2=0.074634, mean_forward_time_ms=0.6786
+- `input_7` (input_blocks): tail_rel_l2=0.074664, mean_forward_time_ms=40.6067

unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv

@@ -0,0 +1,26 @@
+block_stage,block_name,block_index,mean_forward_time_ms,mean_rel_l2_delta_vs_prev,mean_cosine_vs_prev,mean_l2_delta_vs_full50,mean_cosine_vs_full50,mid_mean_rel_l2_delta_vs_prev,mid_mean_cosine_vs_prev,mid_mean_forward_time_ms,tail_mean_rel_l2_delta_vs_prev,tail_mean_cosine_vs_prev,tail_mean_forward_time_ms
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unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv

@@ -0,0 +1,10 @@
+window,block_stage,mean_forward_time_ms,mean_rel_l2_delta_vs_prev,mean_cosine_vs_prev,mean_l2_delta_vs_full50,mean_cosine_vs_full50
+all,input_blocks,27.12376285658037,0.16679587279543565,0.9804364591488476,1758.6817115995618,0.734947685943399
+all,middle_block,27.700351732394967,0.1060706114738571,0.9938496410542604,1983.5321935780844,0.7513873965044816
+all,output_blocks,34.43853756522812,0.10622958187884994,0.9936832468914472,6398.038749608993,0.7860237406483955
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+mid,middle_block,27.59983024415782,0.10616360244060315,0.994050605193017,1932.7470240517268,0.7858611765125442
+mid,output_blocks,34.45514435111483,0.09411451305452455,0.9957720093310826,6438.905440426377,0.7887501596330256
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+tail,output_blocks,34.29416803571965,0.09706782046317429,0.9939017045208149,3118.717174863815,0.9320922318018146

unitree_z1_stackbox/case3/backbone_profile_dense/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-vid25-fs4,unitree_z1_stackbox,0,92.2563533782959,239.25451731681824,417.95410084724426,,,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,1,276.1196584701538,275.11080861091614,641.0843214988708,241.4925079345703,0.24549013376235962,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,2,275.4468674659729,274.4037437438965,639.0623366832733,191.73426818847656,0.293038547039032,
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unitree_z1_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv

@@ -0,0 +1,3 @@
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unitree_z1_stackbox/case3/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=142.5514, median=146.1818, p90=160.5933, p95=163.3348
+
+### 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=0.3534, median=0.3491, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0266, median=0.0257, p90=0.0399, p95=0.0421
+- `state_delta_mid_steps`: mean=0.0268, median=0.0262, p90=0.0402, p95=0.0428
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.6667, median=47.6667, p90=47.6667, p95=47.6667
+- `oracle_budget_state`: mean=48.3333, median=48.3333, p90=48.3333, p95=48.3333
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.6667, median=47.6667, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=187.2331, median=177.0439, p90=206.7721, p95=222.7666
+- `action_drift_vs_prev_round`: mean=0.2498, median=0.2648, p90=0.2955, p95=0.3068
+- `round_total_time_s`: mean=135.6634, median=135.6054, p90=135.7116, p95=136.1716
+- `policy_pass_total_time_s`: mean=33.2696, median=33.2571, p90=33.2790, p95=33.4053
+- `world_model_pass_total_time_s`: mean=33.2670, median=33.2808, p90=33.3028, p95=33.3132
+

unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
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+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,33.26964239279429,,,,49.333333333333336,50.0,47.666666666666664,48.416666666666664,,187.23306274414062,0.24975601651451804,135.66335250933966,33.26964239279429,33.26695068677267,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,33.26695068677267,,,,49.333333333333336,50.0,47.75,48.333333333333336,,187.23306274414062,0.24975601651451804,135.66335250933966,33.26964239279429,33.26695068677267,

unitree_z1_stackbox/case3/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=141.4964, median=145.5265, p90=160.0908, p95=163.0139
+
+### 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=49.3000, median=49.3000, p90=49.3000, p95=49.3000
+- `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=0.3491, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0257, median=0.0247, p90=0.0382, p95=0.0403
+- `state_delta_mid_steps`: mean=0.0260, median=0.0247, p90=0.0400, p95=0.0424
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.5833, median=47.5833, p90=47.5833, p95=47.5833
+- `oracle_budget_state`: mean=48.3333, median=48.3333, p90=48.3333, p95=48.3333
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.5833, median=47.5833, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=184.9084, median=176.9709, p90=207.5904, p95=223.1764
+- `action_drift_vs_prev_round`: mean=0.2433, median=0.2588, p90=0.2970, p95=0.3081
+- `round_total_time_s`: mean=136.9350, median=137.2997, p90=137.6646, p95=137.7072
+- `policy_pass_total_time_s`: mean=33.6722, median=33.7683, p90=33.8526, p95=33.8686
+- `world_model_pass_total_time_s`: mean=33.6451, median=33.7512, p90=33.8346, p95=33.8521
+

unitree_z1_stackbox/case3/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,33.67222219705582,33.67222219705582,,,,,,,,,,,47.5,47.5,,49.3,49.3,,47.583333333333336,47.583333333333336,,48.333333333333336,48.333333333333336,,136.93499877055487,136.93499877055487,,33.67222219705582,33.67222219705582,,33.64513192574183,33.64513192574183,,184.90836264870384,184.90836264870384,,0.243316650390625,0.243316650390625,
+unitree_z1_stackbox,world_model,33.64513192574183,33.64513192574183,,,,,,,,,,,47.583333333333336,47.583333333333336,,49.41666666666666,49.41666666666666,,47.75,47.75,,48.333333333333336,48.333333333333336,,136.93499877055487,136.93499877055487,,33.67222219705582,33.67222219705582,,33.64513192574183,33.64513192574183,,184.90836264870384,184.90836264870384,,0.243316650390625,0.243316650390625,

unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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unitree_z1_stackbox/case3/output/sparse_8/inference/round_summary.csv

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+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
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+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,1,34.663827419281006,33.852627992630005,141.10746026039124,238.76235961914062,0.19588381052017212,
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unitree_z1_stackbox/case3/output/sparse_8/inference/sample_summary.csv

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unitree_z1_stackbox/case3/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=143.1844, median=147.4895, p90=159.0503, p95=161.8333
+
+### 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=0.3534, median=0.3492, p90=0.4171, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0263, median=0.0265, p90=0.0283, p95=0.0289
+- `state_delta_mid_steps`: mean=0.0256, median=0.0258, p90=0.0273, p95=0.0279
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=48.0833, median=48.0833, p90=48.0833, p95=48.0833
+- `oracle_budget_state`: mean=48.6667, median=48.6667, p90=48.6667, p95=48.6667
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=48.0833, median=48.0833, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=179.7446, median=172.1498, p90=203.4590, p95=221.0535
+- `action_drift_vs_prev_round`: mean=0.2841, median=0.2810, p90=0.3401, p95=0.3480
+- `round_total_time_s`: mean=135.8333, median=135.6952, p90=136.2318, p95=136.7025
+- `policy_pass_total_time_s`: mean=33.3106, median=33.2931, p90=33.3214, p95=33.4787
+- `world_model_pass_total_time_s`: mean=33.3300, median=33.2793, p90=33.3598, p95=33.5599
+

unitree_z1_stackbox/case3/output/tail_only/inference/analysis/scene_summary.csv

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unitree_z1_stackbox/case3/output/tail_only/inference/analysis/step_aggregate.csv

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unitree_z1_stackbox/case3/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-vid25-fs4,unitree_z1_stackbox,0,33.67040419578552,33.800028800964355,137.221914768219,,,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,1,33.31761074066162,33.262980699539185,136.27750039100647,238.64788818359375,0.19952410459518433,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,2,33.238263845443726,33.250823974609375,135.51802134513855,192.30369567871094,0.23067617416381836,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,3,33.28171896934509,33.262004375457764,135.6212022304535,203.45904541015625,0.27480602264404297,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,4,33.28503108024597,33.25344920158386,135.70783257484436,167.5643310546875,0.23062992095947266,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,5,33.23398208618164,33.29436779022217,135.50096678733826,178.7190399169922,0.27357250452041626,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,6,33.32185959815979,33.36346125602722,135.82037162780762,169.44444274902344,0.2809619903564453,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,7,33.24537396430969,33.26418685913086,135.5914387702942,172.14979553222656,0.302446186542511,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,8,33.31442642211914,33.315276861190796,135.74859046936035,172.6797332763672,0.31933075189590454,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,9,33.30122685432434,33.32652997970581,135.7627236843109,156.57073974609375,0.31710290908813477,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,10,33.30414032936096,33.24206185340881,135.68247628211975,155.6695556640625,0.3558127284049988,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,11,33.21325969696045,33.325000047683716,135.5469033718109,169.98265075683594,0.3401489853858948,

unitree_z1_stackbox/case3/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-vid25-fs4,unitree_z1_stackbox,policy,33.31060814857483,,,,,,48.083333333333336,48.75,,179.74462890625,0.2840920253233476,135.8333285252253,33.31060814857483,33.33001430829366,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,33.33001430829366,,,,,,47.916666666666664,48.666666666666664,,179.74462890625,0.2840920253233476,135.8333285252253,33.31060814857483,33.33001430829366,

unitree_z1_stackbox/case3/run_world_model_backbone_profile.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-1}" \
+bash "${repo_root}/scripts/run_world_model_backbone_profile_case.sh" \
+    "unitree_z1_stackbox/case3" \
+    "unitree_z1_stackbox" \
+    "4" \
+    "12"

unitree_z1_stackbox/case3/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_stackbox/case3"
 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"