保存结果一次

unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/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,0,34.61543416976929,35.12265110015869,140.12255382537842,,,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,1,34.92478108406067,34.903425455093384,140.50326132774353,238.71011352539062,0.1955518126487732,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,2,34.93473482131958,34.86671566963196,140.23696851730347,193.00128173828125,0.22892463207244873,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,3,34.8467276096344,34.840471267700195,139.95978212356567,203.62391662597656,0.2653714418411255,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,4,34.84385108947754,34.884554386138916,140.10617589950562,175.98419189453125,0.2676825523376465,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,5,34.84644269943237,34.84303593635559,140.06873226165771,177.170654296875,0.20933383703231812,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,6,34.842782735824585,34.959144592285156,140.20916867256165,158.33082580566406,0.3230288028717041,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,7,34.8296320438385,35.06740975379944,140.3599042892456,186.1202392578125,0.29313647747039795,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,8,34.718727111816406,34.513421297073364,139.18176984786987,176.69534301757812,0.2630300521850586,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,9,34.467792987823486,34.49754571914673,138.48231291770935,207.1377716064453,0.27973079681396484,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,10,34.49251866340637,34.52156186103821,138.64975929260254,167.4407501220703,0.17017686367034912,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,11,34.500508069992065,34.50804042816162,138.59093475341797,171.18487548828125,0.16435915231704712,

unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/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,34.738661090532936,,,,46.25,48.0,47.666666666666664,48.333333333333336,,186.85454212535512,0.2418478564782576,139.70594364404678,34.738661090532936,34.79399812221527,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,34.79399812221527,,,,46.333333333333336,48.083333333333336,47.75,48.25,,186.85454212535512,0.2418478564782576,139.70594364404678,34.738661090532936,34.79399812221527,

unitree_z1_stackbox/case3/run_world_model_backbone_reuse_output546.sh

@@ -0,0 +1,31 @@
+res_dir="unitree_z1_stackbox/case3"
+dataset="unitree_z1_stackbox"
+
+{
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
+        --seed 123 \
+        --ckpt_path ckpts/unifolm_wma_dual.ckpt \
+        --config configs/inference/world_model_interaction.yaml \
+        --savedir "${res_dir}/output/backbone_reuse_output546_tail_sparse_8" \
+        --bs 1 --height 320 --width 512 \
+        --unconditional_guidance_scale 1.0 \
+        --ddim_steps 50 \
+        --ddim_eta 1.0 \
+        --prompt_dir "unitree_z1_stackbox/case3/world_model_interaction_prompts" \
+        --dataset ${dataset} \
+        --video_length 16 \
+        --frame_stride 4 \
+        --n_action_steps 16 \
+        --exe_steps 16 \
+        --n_iter 12 \
+        --timestep_spacing 'uniform_trailing' \
+        --guidance_rescale 0.7 \
+        --perframe_ae \
+        --analysis_log_metrics \
+        --analysis_reference_steps 50 \
+        --backbone_reuse_mode reuse_output \
+        --backbone_reuse_blocks output_5 output_4 output_6 \
+        --backbone_reuse_start_step 35 \
+        --backbone_reuse_schedule_steps 35 37 39 41 43 45 47 49 \
+        --backbone_reuse_force_compute_steps 50
+} 2>&1 | tee "${res_dir}/output_backbone_reuse_output546_tail_sparse_8.log"