video_backbone剖析

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

@@ -0,0 +1,13 @@
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unitree_z1_stackbox/case3/output/sparse_8/inference/sample_summary.csv

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