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 @@
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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
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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 @@
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unitree_z1_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv

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