第一次baseline测试，补充psnr测定

.gitignore

@@ -121,7 +121,6 @@ localTest/
 fig/
 figure/
 *.mp4
-*.json
 Data/ControlVAE.yml
 Data/Misc
 Data/Pretrained

run_all_psnr.sh

@@ -0,0 +1,61 @@
+#!/bin/bash
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+cd "$SCRIPT_DIR"
+
+SCENARIOS=(
+    unitree_g1_pack_camera
+    unitree_z1_dual_arm_cleanup_pencils
+    unitree_z1_dual_arm_stackbox
+    unitree_z1_dual_arm_stackbox_v2
+    unitree_z1_stackbox
+)
+
+CASES=(case1 case2 case3 case4)
+
+total=0
+success=0
+fail=0
+
+for scenario in "${SCENARIOS[@]}"; do
+    for case in "${CASES[@]}"; do
+        case_dir="${scenario}/${case}"
+        gt_video="${case_dir}/${scenario}_${case}.mp4"
+        pred_video=$(ls "${case_dir}"/output/inference/*_full_fs*.mp4 2>/dev/null | head -1)
+        output_file="${case_dir}/psnr_result.json"
+
+        total=$((total + 1))
+        echo "=========================================="
+        echo "[${total}/20] ${case_dir}"
+
+        if [ ! -f "$gt_video" ]; then
+            echo "  SKIP: GT video not found: $gt_video"
+            fail=$((fail + 1))
+            continue
+        fi
+        if [ -z "$pred_video" ]; then
+            echo "  SKIP: pred video not found in ${case_dir}/output/inference/"
+            fail=$((fail + 1))
+            continue
+        fi
+
+        echo "  GT:   $gt_video"
+        echo "  Pred: $pred_video"
+        echo "  Out:  $output_file"
+
+        if python3 psnr_score_for_challenge.py \
+            --gt_video "$gt_video" \
+            --pred_video "$pred_video" \
+            --output_file "$output_file"; then
+            success=$((success + 1))
+            echo "  DONE"
+        else
+            fail=$((fail + 1))
+            echo "  FAILED"
+        fi
+    done
+done
+
+echo "=========================================="
+echo "Finished: ${success} success, ${fail} fail, ${total} total"

unitree_g1_pack_camera/case1/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4",
+    "pred_video": "unitree_g1_pack_camera/case1/output/inference/0_full_fs6.mp4",
+    "psnr": 35.615362167470806
+}

unitree_g1_pack_camera/case2/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_g1_pack_camera/case2/unitree_g1_pack_camera_case2.mp4",
+    "pred_video": "unitree_g1_pack_camera/case2/output/inference/50_full_fs6.mp4",
+    "psnr": 34.61979248212279
+}

unitree_g1_pack_camera/case3/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_g1_pack_camera/case3/unitree_g1_pack_camera_case3.mp4",
+    "pred_video": "unitree_g1_pack_camera/case3/output/inference/100_full_fs6.mp4",
+    "psnr": 37.034952654534486
+}

unitree_g1_pack_camera/case4/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_g1_pack_camera/case4/unitree_g1_pack_camera_case4.mp4",
+    "pred_video": "unitree_g1_pack_camera/case4/output/inference/200_full_fs6.mp4",
+    "psnr": 31.43390896360405
+}

unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case1/unitree_z1_dual_arm_cleanup_pencils_case1.mp4",
+    "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/0_full_fs4.mp4",
+    "psnr": 47.911564449209735
+}

unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case2/unitree_z1_dual_arm_cleanup_pencils_case2.mp4",
+    "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/50_full_fs4.mp4",
+    "psnr": 48.344571927558974
+}

unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case3/unitree_z1_dual_arm_cleanup_pencils_case3.mp4",
+    "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case3/output/inference/100_full_fs4.mp4",
+    "psnr": 41.152374490134825
+}

unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case4/unitree_z1_dual_arm_cleanup_pencils_case4.mp4",
+    "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/200_full_fs4.mp4",
+    "psnr": 46.025723557253855
+}

unitree_z1_dual_arm_stackbox/case1/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_stackbox/case1/unitree_z1_dual_arm_stackbox_case1.mp4",
+    "pred_video": "unitree_z1_dual_arm_stackbox/case1/output/inference/5_full_fs4.mp4",
+    "psnr": 44.3480149502738
+}

unitree_z1_dual_arm_stackbox/case2/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_stackbox/case2/unitree_z1_dual_arm_stackbox_case2.mp4",
+    "pred_video": "unitree_z1_dual_arm_stackbox/case2/output/inference/15_full_fs4.mp4",
+    "psnr": 39.867728254007716
+}

unitree_z1_dual_arm_stackbox/case3/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_stackbox/case3/unitree_z1_dual_arm_stackbox_case3.mp4",
+    "pred_video": "unitree_z1_dual_arm_stackbox/case3/output/inference/25_full_fs4.mp4",
+    "psnr": 39.19101039445159
+}

unitree_z1_dual_arm_stackbox/case4/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_stackbox/case4/unitree_z1_dual_arm_stackbox_case4.mp4",
+    "pred_video": "unitree_z1_dual_arm_stackbox/case4/output/inference/35_full_fs4.mp4",
+    "psnr": 40.29563315341769
+}

unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_stackbox_v2/case1/unitree_z1_dual_arm_stackbox_v2_case1.mp4",
+    "pred_video": "unitree_z1_dual_arm_stackbox_v2/case1/output/inference/5_full_fs4.mp4",
+    "psnr": 25.812741419225095
+}

unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_stackbox_v2/case2/unitree_z1_dual_arm_stackbox_v2_case2.mp4",
+    "pred_video": "unitree_z1_dual_arm_stackbox_v2/case2/output/inference/15_full_fs4.mp4",
+    "psnr": 33.90444714332389
+}

unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_stackbox_v2/case3/unitree_z1_dual_arm_stackbox_v2_case3.mp4",
+    "pred_video": "unitree_z1_dual_arm_stackbox_v2/case3/output/inference/25_full_fs4.mp4",
+    "psnr": 34.50192428908007
+}

unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_dual_arm_stackbox_v2/case4/unitree_z1_dual_arm_stackbox_v2_case4.mp4",
+    "pred_video": "unitree_z1_dual_arm_stackbox_v2/case4/output/inference/35_full_fs4.mp4",
+    "psnr": 38.797893493652516
+}

unitree_z1_stackbox/case1/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_stackbox/case1/unitree_z1_stackbox_case1.mp4",
+    "pred_video": "unitree_z1_stackbox/case1/output/inference/5_full_fs4.mp4",
+    "psnr": 42.83913947323794
+}

unitree_z1_stackbox/case2/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_stackbox/case2/unitree_z1_stackbox_case2.mp4",
+    "pred_video": "unitree_z1_stackbox/case2/output/inference/15_full_fs4.mp4",
+    "psnr": 48.64571989587276
+}

unitree_z1_stackbox/case3/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_stackbox/case3/unitree_z1_stackbox_case3.mp4",
+    "pred_video": "unitree_z1_stackbox/case3/output/inference/25_full_fs4.mp4",
+    "psnr": 45.127553229898034
+}

unitree_z1_stackbox/case4/psnr_result.json

@@ -0,0 +1,5 @@
+{
+    "gt_video": "unitree_z1_stackbox/case4/unitree_z1_stackbox_case4.mp4",
+    "pred_video": "unitree_z1_stackbox/case4/output/inference/35_full_fs4.mp4",
+    "psnr": 50.642542240144444
+}