video_backbone剖析

2026-03-16 10:30:54 +08:00
parent 7e45eba18b
commit 8ca159d375
282 changed files with 174952 additions and 1350 deletions
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/analysis_report.md
+++ b/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
+
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/budget_distribution.png
+++ b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/budget_distribution.png
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/convergence_curves.png
+++ b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/convergence_curves.png
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/midstep_latent_delta.png
+++ b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/midstep_latent_delta.png
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/round_reuse.png
+++ b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/round_reuse.png
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/scene_summary.csv
+++ b/unitree_z1_stackbox/case3/output/tail_only/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,33.31060814857483,33.31060814857483,,,,,,,,,,,,,,,,,48.083333333333336,48.083333333333336,,48.75,48.75,,135.8333285252253,135.8333285252253,,33.31060814857483,33.31060814857483,,33.33001430829366,33.33001430829366,,179.74462890625,179.74462890625,,0.2840920253233476,0.2840920253233476,
+unitree_z1_stackbox,world_model,33.33001430829366,33.33001430829366,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.66666666666666,48.66666666666666,,135.8333285252253,135.8333285252253,,33.31060814857483,33.31060814857483,,33.33001430829366,33.33001430829366,,179.74462890625,179.74462890625,,0.2840920253233476,0.2840920253233476,
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/step_aggregate.csv
+++ b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
+pass_type,step,step_time_s,step_time_s,step_time_s,latent_delta,latent_delta,latent_delta,action_delta,action_delta,action_delta,state_delta,state_delta,state_delta,action_cosine_vs_full50,action_cosine_vs_full50,action_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50
+,,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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+world_model,48,0.6461543440818787,0.6455551385879517,0.004050529996530817,0.1500665073593457,0.15011060237884521,0.000589610734353741,0.11796748079359527,0.1184355020523071,0.004469877278390316,0.12378594217201071,0.12340082600712775,0.00491400912505881,0.43126827478408813,0.4365278333425522,0.03859823344165382,0.5200142214695612,0.5333927869796753,0.04519038434833299,119.65992800394694,122.18870544433594,13.179582290702122
+world_model,49,0.6492851177851359,0.6486091613769531,0.0029920071698425407,0.13748753443360326,0.137488380074501,0.0005627499025249513,0.1340594844271739,0.13483127951622004,0.005929281792139915,0.14242199063301084,0.1422313749790191,0.0068636272856722885,0.48404740542173386,0.48880262672901154,0.03966192321243334,0.5644478673736254,0.5753549337387085,0.04553144582193623,121.33191680908203,123.90790557861328,13.246405750514676
+world_model,50,0.6905355652173361,0.6887067556381226,0.005139283293817568,0.11304902782042818,0.11309283226728435,0.0007858668674225156,0.20121215408047036,0.20203101634979242,0.011273917459627721,0.2187526039779186,0.21784109622240064,0.014891397627711387,0.5673865328232447,0.5761814117431641,0.0421030676272399,0.6379569917917252,0.6421737372875214,0.04809065848707471,122.19250233968098,124.71757888793945,13.186142155198164
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/round_summary.csv
+++ b/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,
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/sample_summary.csv
+++ b/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,
--- a/unitree_z1_stackbox/case3/output/tail_only/inference/stepwise_log.csv
+++ b/unitree_z1_stackbox/case3/output/tail_only/inference/stepwise_log.csv