video_backbone剖析

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 @@
+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,33.26964239279429,33.26964239279429,,,,,,,,,,,49.333333333333336,49.333333333333336,,50.0,50.0,,47.66666666666666,47.66666666666666,,48.41666666666666,48.41666666666666,,135.66335250933966,135.66335250933966,,33.26964239279429,33.26964239279429,,33.26695068677267,33.26695068677267,,187.23306274414065,187.23306274414065,,0.249756016514518,0.249756016514518,
+unitree_z1_stackbox,world_model,33.26695068677267,33.26695068677267,,,,,,,,,,,49.333333333333336,49.333333333333336,,50.0,50.0,,47.75,47.75,,48.333333333333336,48.333333333333336,,135.66335250933966,135.66335250933966,,33.26964239279429,33.26964239279429,,33.26695068677267,33.26695068677267,,187.23306274414065,187.23306274414065,,0.249756016514518,0.249756016514518,

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

@@ -0,0 +1,102 @@
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unitree_z1_stackbox/case3/output/sparse_4/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,0,33.55953001976013,33.32580900192261,136.7301139831543,,,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,1,33.19381356239319,33.23467564582825,135.40284252166748,238.76109313964844,0.19595253467559814,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,2,33.27829575538635,33.28524875640869,135.7145836353302,192.6779022216797,0.22943705320358276,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,3,33.24375247955322,33.3015410900116,135.63396644592285,203.4762725830078,0.2647775411605835,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,4,33.27905583381653,33.25859761238098,135.61153364181519,175.8230743408203,0.26663118600845337,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,5,33.27312517166138,33.279319763183594,135.68469882011414,177.04388427734375,0.2151024341583252,
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unitree_z1_stackbox/case3/output/sparse_4/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
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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 @@
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+,,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
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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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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/sample_summary.csv

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