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
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unitree_z1_stackbox/case3/output/sparse_4/inference/sample_summary.csv

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