From 7e45eba18baafdba855ff46443a361973e2d8c7d Mon Sep 17 00:00:00 2001 From: qhy <2728290997@qq.com> Date: Sun, 15 Mar 2026 12:41:53 +0800 Subject: [PATCH] =?UTF-8?q?=E6=97=A9=E5=81=9C=E7=89=B9=E5=BE=81=E9=AA=8C?= =?UTF-8?q?=E8=AF=81=EF=BC=8C=E6=97=A9=E5=81=9C=E4=B8=8D=E9=80=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 + .../inference/world_model_interaction.yaml | 2 +- scripts/evaluation/analyze_metrics.py | 611 +++++++++ scripts/evaluation/world_model_interaction.py | 829 ++++++++++-- scripts/run_all_world_model_cases.sh | 58 + scripts/run_world_model_interaction.sh | 12 +- src/unifolm_wma/models/samplers/ddim.py | 53 +- .../inference/analysis/analysis_report.md | 54 + .../analysis/budget_distribution.png | Bin 0 -> 78227 bytes .../inference/analysis/convergence_curves.png | Bin 0 -> 256804 bytes .../analysis/midstep_latent_delta.png | Bin 0 -> 73265 bytes .../output/inference/analysis/round_reuse.png | Bin 0 -> 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unitree_z1_stackbox/case4/output/inference/round_summary.csv create mode 100644 unitree_z1_stackbox/case4/output/inference/sample_summary.csv create mode 100644 unitree_z1_stackbox/case4/output/inference/stepwise_log.csv diff --git a/.gitignore b/.gitignore index 0b3cdc6..a03f6d0 100644 --- a/.gitignore +++ b/.gitignore @@ -139,3 +139,4 @@ onnx__Mul* onnx__MatMul* onnx__Add_* Constant_*_attr__value +*.0 diff --git a/configs/inference/world_model_interaction.yaml b/configs/inference/world_model_interaction.yaml index da709e0..b79b196 100644 --- a/configs/inference/world_model_interaction.yaml +++ b/configs/inference/world_model_interaction.yaml @@ -222,7 +222,7 @@ data: test: target: unifolm_wma.data.wma_data.WMAData params: - data_dir: '/mnt/ASC1637/unifolm-world-model-action/examples/world_model_interaction_prompts' + data_dir: 'examples/world_model_interaction_prompts' video_length: ${model.params.wma_config.params.temporal_length} frame_stride: 2 load_raw_resolution: True diff --git a/scripts/evaluation/analyze_metrics.py b/scripts/evaluation/analyze_metrics.py new file mode 100644 index 0000000..a4dbbc5 --- /dev/null +++ b/scripts/evaluation/analyze_metrics.py @@ -0,0 +1,611 @@ +import argparse +import json +import os +from pathlib import Path + +import numpy as np +import pandas as pd + +try: + import matplotlib.pyplot as plt +except ModuleNotFoundError: + plt = None + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description="Analyze DDIM convergence logs for the five research directions." + ) + parser.add_argument( + "--input_dir", + type=str, + required=True, + help="Directory containing stepwise_log.csv, sample_summary.csv, and round_summary.csv.", + ) + parser.add_argument( + "--output_dir", + type=str, + default=None, + help="Directory to write analysis outputs. Defaults to /analysis.", + ) + parser.add_argument( + "--mid_step_start", + type=int, + default=15, + help="Start of the step window used for cross-step latent-delta analysis.", + ) + parser.add_argument( + "--mid_step_end", + type=int, + default=35, + help="End of the step window used for cross-step latent-delta analysis.", + ) + parser.add_argument( + "--full50_step_cap", + type=int, + default=50, + help="Upper bound used when summarizing step-based metrics.", + ) + parser.add_argument( + "--stability_threshold", + type=float, + default=None, + help="Optional threshold for offline first_stable_step analysis. If unset, stable-step metrics are not computed.", + ) + parser.add_argument( + "--stability_window", + type=int, + default=3, + help="Consecutive-step window for offline first_stable_step analysis.", + ) + return parser.parse_args() + + +def safe_float(value) -> float: + if pd.isna(value): + return float("nan") + return float(value) + + +def describe_series(series: pd.Series) -> dict[str, float]: + series = pd.to_numeric(series, errors="coerce").dropna() + if series.empty: + return { + "count": 0.0, + "mean": float("nan"), + "std": float("nan"), + "min": float("nan"), + "p25": float("nan"), + "median": float("nan"), + "p75": float("nan"), + "p90": float("nan"), + "p95": float("nan"), + "max": float("nan"), + } + return { + "count": float(series.count()), + "mean": float(series.mean()), + "std": float(series.std(ddof=0)), + "min": float(series.min()), + "p25": float(series.quantile(0.25)), + "median": float(series.median()), + "p75": float(series.quantile(0.75)), + "p90": float(series.quantile(0.90)), + "p95": float(series.quantile(0.95)), + "max": float(series.max()), + } + + +def ensure_columns(frame: pd.DataFrame, required: list[str], frame_name: str) -> None: + missing = [column for column in required if column not in frame.columns] + if missing: + raise ValueError(f"{frame_name} is missing required columns: {missing}") + + +def first_consecutive_below(values: pd.Series, threshold: float, + window: int) -> float: + cleaned = pd.to_numeric(values, errors="coerce").tolist() + if window <= 0 or len(cleaned) < window: + return float("nan") + for start in range(len(cleaned) - window + 1): + chunk = cleaned[start:start + window] + if all(pd.notna(value) and value < threshold for value in chunk): + return float(start + 1) + return float("nan") + + +def load_tables(input_dir: Path) -> tuple[pd.DataFrame, pd.DataFrame, pd.DataFrame]: + stepwise_path = input_dir / "stepwise_log.csv" + sample_summary_path = input_dir / "sample_summary.csv" + round_summary_path = input_dir / "round_summary.csv" + + if not stepwise_path.exists(): + raise FileNotFoundError(f"Missing file: {stepwise_path}") + if not sample_summary_path.exists(): + raise FileNotFoundError(f"Missing file: {sample_summary_path}") + if not round_summary_path.exists(): + raise FileNotFoundError(f"Missing file: {round_summary_path}") + + stepwise_df = pd.read_csv(stepwise_path) + sample_summary_df = pd.read_csv(sample_summary_path) + round_summary_df = pd.read_csv(round_summary_path) + + ensure_columns( + stepwise_df, + [ + "sample_id", + "scene", + "pass_type", + "round_id", + "step", + "latent_delta", + "action_delta", + "state_delta", + "action_cosine_vs_full50", + "state_cosine_vs_full50", + "latent_l2_vs_full50", + ], + "stepwise_log.csv", + ) + ensure_columns( + sample_summary_df, + [ + "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", + ], + "sample_summary.csv", + ) + ensure_columns( + round_summary_df, + [ + "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", + ], + "round_summary.csv", + ) + return stepwise_df, sample_summary_df, round_summary_df + + +def aggregate_stepwise(stepwise_df: pd.DataFrame) -> pd.DataFrame: + metric_columns = [ + "step_time_s", + "latent_delta", + "action_delta", + "state_delta", + "action_cosine_vs_full50", + "state_cosine_vs_full50", + "latent_l2_vs_full50", + ] + stepwise_df = stepwise_df.copy() + for column in metric_columns: + stepwise_df[column] = pd.to_numeric(stepwise_df[column], errors="coerce") + grouped = stepwise_df.groupby(["pass_type", "step"])[metric_columns] + return grouped.agg(["mean", "median", "std"]).reset_index() + + +def aggregate_scene_summary(sample_summary_df: pd.DataFrame) -> pd.DataFrame: + metrics = [ + "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", + "round_total_time_s", + "policy_pass_total_time_s", + "world_model_pass_total_time_s", + "latent_init_dist_to_prev_round", + "action_drift_vs_prev_round", + ] + sample_summary_df = sample_summary_df.copy() + for column in metrics: + sample_summary_df[column] = pd.to_numeric(sample_summary_df[column], + errors="coerce") + grouped = sample_summary_df.groupby(["scene", "pass_type"])[metrics] + return grouped.agg(["mean", "median", "std"]).reset_index() + + +def compute_stability_summary(stepwise_df: pd.DataFrame, threshold: float, + window: int) -> pd.DataFrame: + rows = [] + grouped = stepwise_df.sort_values("step").groupby( + ["sample_id", "scene", "pass_type"]) + for (sample_id, scene, pass_type), group in grouped: + rows.append({ + "sample_id": sample_id, + "scene": scene, + "pass_type": pass_type, + "action_first_stable_step": first_consecutive_below( + group["action_delta"], threshold, window), + "state_first_stable_step": first_consecutive_below( + group["state_delta"], threshold, window), + "latent_first_stable_step": first_consecutive_below( + group["latent_delta"], threshold, window), + }) + return pd.DataFrame(rows) + + +def compute_direction_summary(stepwise_df: pd.DataFrame, + sample_summary_df: pd.DataFrame, + round_summary_df: pd.DataFrame, + mid_step_start: int, + mid_step_end: int, + stability_threshold: float | None, + stability_window: int) -> dict: + policy_summary = sample_summary_df[ + sample_summary_df["pass_type"] == "policy"].copy() + world_summary = sample_summary_df[ + sample_summary_df["pass_type"] == "world_model"].copy() + + latent_mid = stepwise_df[ + (stepwise_df["step"] >= mid_step_start) + & (stepwise_df["step"] <= mid_step_end)].copy() + + action_before_latent = policy_summary[[ + "action_first_stable_step", + "latent_first_stable_step", + "action_vs_full50_95pct_step", + ]].dropna() + if action_before_latent.empty: + action_first_beats_latent = float("nan") + action_95_beats_latent = float("nan") + else: + action_first_beats_latent = float( + (action_before_latent["action_first_stable_step"] < + action_before_latent["latent_first_stable_step"]).mean()) + action_95_beats_latent = float( + (action_before_latent["action_vs_full50_95pct_step"] < + action_before_latent["latent_first_stable_step"]).mean()) + + direction_summary = { + "analysis_config": { + "stability_threshold": stability_threshold, + "stability_window": int(stability_window), + "mid_step_window": [int(mid_step_start), int(mid_step_end)], + }, + "dataset_overview": { + "num_step_rows": int(len(stepwise_df)), + "num_sample_rows": int(len(sample_summary_df)), + "num_round_rows": int(len(round_summary_df)), + "num_unique_samples": int(sample_summary_df["sample_id"].nunique()), + "scenes": sorted(sample_summary_df["scene"].dropna().unique().tolist()), + "pass_types": sorted(sample_summary_df["pass_type"].dropna().unique().tolist()), + }, + "direction_original_early_stop": { + "latent_first_stable_step_policy": + describe_series(policy_summary["latent_first_stable_step"]), + "latent_first_stable_step_world_model": + describe_series(world_summary["latent_first_stable_step"]), + "latent_l2_vs_full50": + describe_series(stepwise_df["latent_l2_vs_full50"]), + }, + "direction_c_action_converges_first": { + "action_first_stable_step": + describe_series(policy_summary["action_first_stable_step"]), + "latent_first_stable_step": + describe_series(policy_summary["latent_first_stable_step"]), + "action_vs_full50_95pct_step": + describe_series(policy_summary["action_vs_full50_95pct_step"]), + "share_action_first_stable_before_latent": + action_first_beats_latent, + "share_action_95pct_before_latent": + action_95_beats_latent, + }, + "direction_d_cross_step_similarity": { + "latent_delta_mid_steps": + describe_series(latent_mid["latent_delta"]), + "action_delta_mid_steps": + describe_series(latent_mid["action_delta"]), + "state_delta_mid_steps": + describe_series(latent_mid["state_delta"]), + }, + "direction_a_budget_heterogeneity": { + "oracle_budget_action": + describe_series(policy_summary["oracle_budget_action"]), + "oracle_budget_state": + describe_series(world_summary["oracle_budget_state"]), + "oracle_budget_action_by_scene": { + scene: describe_series(group["oracle_budget_action"]) + for scene, group in policy_summary.groupby("scene") + }, + }, + "direction_b_round_reuse": { + "latent_init_dist_to_prev_round": + describe_series(round_summary_df["latent_init_dist_to_prev_round"]), + "action_drift_vs_prev_round": + describe_series(round_summary_df["action_drift_vs_prev_round"]), + "round_total_time_s": + describe_series(round_summary_df["round_total_time_s"]), + "policy_pass_total_time_s": + describe_series(round_summary_df["policy_pass_total_time_s"]), + "world_model_pass_total_time_s": + describe_series(round_summary_df["world_model_pass_total_time_s"]), + }, + } + return direction_summary + + +def save_json(path: Path, payload: dict) -> None: + with open(path, "w", encoding="utf-8") as file: + json.dump(payload, file, indent=2, ensure_ascii=False) + + +def write_markdown_report(path: Path, direction_summary: dict) -> None: + lines = [ + "# DDIM Analysis Report", + "", + "## Analysis Config", + "", + ] + config = direction_summary["analysis_config"] + lines.extend([ + f"- Stability threshold: {config['stability_threshold']}", + f"- Stability window: {config['stability_window']}", + f"- Mid-step window: {config['mid_step_window'][0]}-{config['mid_step_window'][1]}", + "", + "## Dataset Overview", + "", + ]) + overview = direction_summary["dataset_overview"] + lines.extend([ + f"- Unique samples: {overview['num_unique_samples']}", + f"- Step rows: {overview['num_step_rows']}", + f"- Sample rows: {overview['num_sample_rows']}", + f"- Round rows: {overview['num_round_rows']}", + f"- Scenes: {', '.join(overview['scenes'])}", + f"- Pass types: {', '.join(overview['pass_types'])}", + "", + "## Five Directions", + "", + ]) + + def append_stats(title: str, payload: dict) -> None: + lines.append(f"### {title}") + lines.append("") + for key, value in payload.items(): + if isinstance(value, dict): + if {"median", "mean", "p90"} <= set(value.keys()): + lines.append( + f"- `{key}`: mean={value['mean']:.4f}, median={value['median']:.4f}, p90={value['p90']:.4f}, p95={value['p95']:.4f}" + ) + else: + lines.append(f"- `{key}`:") + for sub_key, sub_value in value.items(): + if isinstance(sub_value, dict) and {"median", "mean"} <= set( + sub_value.keys()): + lines.append( + f" - `{sub_key}`: mean={sub_value['mean']:.4f}, median={sub_value['median']:.4f}, std={sub_value['std']:.4f}" + ) + else: + lines.append(f" - `{sub_key}`: {sub_value}") + else: + if isinstance(value, float): + lines.append(f"- `{key}`: {value:.4f}") + else: + lines.append(f"- `{key}`: {value}") + lines.append("") + + append_stats("Original Early Stop", + direction_summary["direction_original_early_stop"]) + append_stats("Direction C: Action Converges First", + direction_summary["direction_c_action_converges_first"]) + append_stats("Direction D: Cross-Step Similarity", + direction_summary["direction_d_cross_step_similarity"]) + append_stats("Direction A: Budget Heterogeneity", + direction_summary["direction_a_budget_heterogeneity"]) + append_stats("Direction B: Round Reuse", + direction_summary["direction_b_round_reuse"]) + + with open(path, "w", encoding="utf-8") as file: + file.write("\n".join(lines) + "\n") + + +def save_convergence_plot(stepwise_df: pd.DataFrame, output_path: Path) -> None: + if plt is None: + return + fig, axes = plt.subplots(2, 2, figsize=(14, 10)) + pass_types = sorted(stepwise_df["pass_type"].dropna().unique().tolist()) + for pass_type in pass_types: + subset = stepwise_df[stepwise_df["pass_type"] == pass_type] + grouped = subset.groupby("step").mean(numeric_only=True).reset_index() + axes[0, 0].plot(grouped["step"], + grouped["latent_delta"], + label=pass_type) + axes[0, 1].plot(grouped["step"], + grouped["action_cosine_vs_full50"], + label=pass_type) + axes[1, 0].plot(grouped["step"], + grouped["state_cosine_vs_full50"], + label=pass_type) + axes[1, 1].plot(grouped["step"], + grouped["latent_l2_vs_full50"], + label=pass_type) + + axes[0, 0].set_title("Mean Latent Delta") + axes[0, 1].set_title("Mean Action Cosine vs Full50") + axes[1, 0].set_title("Mean State Cosine vs Full50") + axes[1, 1].set_title("Mean Latent L2 vs Full50") + for axis in axes.flatten(): + axis.set_xlabel("Step") + axis.grid(alpha=0.3) + axis.legend() + fig.tight_layout() + fig.savefig(output_path, dpi=200, bbox_inches="tight") + plt.close(fig) + + +def save_budget_distribution_plot(sample_summary_df: pd.DataFrame, + output_path: Path) -> None: + if plt is None: + return + policy_summary = sample_summary_df[ + sample_summary_df["pass_type"] == "policy"].copy() + scenes = sorted(policy_summary["scene"].dropna().unique().tolist()) + fig, axes = plt.subplots(1, 2, figsize=(14, 5)) + + for scene in scenes: + subset = policy_summary[policy_summary["scene"] == scene] + axes[0].hist(subset["oracle_budget_action"].dropna(), + bins=15, + alpha=0.5, + label=scene) + axes[0].set_title("Oracle Budget Action Distribution") + axes[0].set_xlabel("Step") + axes[0].set_ylabel("Count") + axes[0].legend() + axes[0].grid(alpha=0.3) + + boxplot_data = [ + policy_summary[policy_summary["scene"] == scene]["oracle_budget_action"].dropna() + for scene in scenes + ] + if scenes and any(len(values) > 0 for values in boxplot_data): + axes[1].boxplot(boxplot_data, labels=scenes, showfliers=False) + axes[1].set_title("Oracle Budget Action by Scene") + axes[1].set_ylabel("Step") + axes[1].tick_params(axis="x", rotation=20) + axes[1].grid(alpha=0.3) + + fig.tight_layout() + fig.savefig(output_path, dpi=200, bbox_inches="tight") + plt.close(fig) + + +def save_midstep_delta_plot(stepwise_df: pd.DataFrame, output_path: Path, + mid_step_start: int, mid_step_end: int) -> None: + if plt is None: + return + subset = stepwise_df[(stepwise_df["step"] >= mid_step_start) + & (stepwise_df["step"] <= mid_step_end)].copy() + steps = sorted(subset["step"].dropna().unique().tolist()) + data = [subset[subset["step"] == step]["latent_delta"].dropna() for step in steps] + + fig, ax = plt.subplots(figsize=(14, 5)) + if steps and any(len(values) > 0 for values in data): + ax.boxplot(data, labels=steps, showfliers=False) + ax.set_title( + f"Latent Delta Distribution for Steps {mid_step_start}-{mid_step_end}") + ax.set_xlabel("Step") + ax.set_ylabel("latent_delta") + ax.grid(alpha=0.3) + fig.tight_layout() + fig.savefig(output_path, dpi=200, bbox_inches="tight") + plt.close(fig) + + +def save_round_reuse_plot(round_summary_df: pd.DataFrame, output_path: Path) -> None: + if plt is None: + return + fig, axes = plt.subplots(1, 2, figsize=(14, 5)) + + subset = round_summary_df.dropna( + subset=["latent_init_dist_to_prev_round", "action_drift_vs_prev_round"]) + if not subset.empty: + for scene, group in subset.groupby("scene"): + axes[0].scatter(group["latent_init_dist_to_prev_round"], + group["action_drift_vs_prev_round"], + alpha=0.6, + label=scene) + axes[0].legend() + axes[0].set_title("Round Reuse: Latent Init Dist vs Action Drift") + axes[0].set_xlabel("latent_init_dist_to_prev_round") + axes[0].set_ylabel("action_drift_vs_prev_round") + axes[0].grid(alpha=0.3) + + scene_groups = [] + scene_labels = [] + for scene, group in round_summary_df.groupby("scene"): + values = group["round_total_time_s"].dropna() + if len(values) > 0: + scene_groups.append(values) + scene_labels.append(scene) + if scene_groups: + axes[1].boxplot(scene_groups, labels=scene_labels, showfliers=False) + axes[1].set_title("Round Total Time by Scene") + axes[1].set_ylabel("Seconds") + axes[1].tick_params(axis="x", rotation=20) + axes[1].grid(alpha=0.3) + + fig.tight_layout() + fig.savefig(output_path, dpi=200, bbox_inches="tight") + plt.close(fig) + + +def main() -> None: + args = parse_args() + input_dir = Path(args.input_dir) + output_dir = Path(args.output_dir) if args.output_dir else input_dir / "analysis" + output_dir.mkdir(parents=True, exist_ok=True) + + stepwise_df, sample_summary_df, round_summary_df = load_tables(input_dir) + + stability_summary_df = None + sample_summary_for_analysis = sample_summary_df.copy() + if args.stability_threshold is not None: + stability_summary_df = compute_stability_summary(stepwise_df, + args.stability_threshold, + args.stability_window) + sample_summary_for_analysis = sample_summary_for_analysis.drop( + columns=[ + "action_first_stable_step", + "state_first_stable_step", + "latent_first_stable_step", + ], + errors="ignore", + ).merge(stability_summary_df, + on=["sample_id", "scene", "pass_type"], + how="left") + + step_aggregate_df = aggregate_stepwise(stepwise_df) + scene_summary_df = aggregate_scene_summary(sample_summary_for_analysis) + direction_summary = compute_direction_summary( + stepwise_df=stepwise_df, + sample_summary_df=sample_summary_for_analysis, + round_summary_df=round_summary_df, + mid_step_start=args.mid_step_start, + mid_step_end=args.mid_step_end, + stability_threshold=args.stability_threshold, + stability_window=args.stability_window, + ) + + step_aggregate_df.to_csv(output_dir / "step_aggregate.csv", index=False) + scene_summary_df.to_csv(output_dir / "scene_summary.csv", index=False) + if stability_summary_df is not None: + stability_summary_df.to_csv(output_dir / "stability_summary.csv", + index=False) + save_json(output_dir / "direction_summary.json", direction_summary) + write_markdown_report(output_dir / "analysis_report.md", direction_summary) + + if plt is not None: + save_convergence_plot(stepwise_df, output_dir / "convergence_curves.png") + save_budget_distribution_plot(sample_summary_df, + output_dir / "budget_distribution.png") + save_midstep_delta_plot(stepwise_df, + output_dir / "midstep_latent_delta.png", + args.mid_step_start, args.mid_step_end) + save_round_reuse_plot(round_summary_df, output_dir / "round_reuse.png") + else: + print("matplotlib not installed; skipped PNG plots.") + + print(f"Analysis written to: {output_dir}") + + +if __name__ == "__main__": + main() diff --git a/scripts/evaluation/world_model_interaction.py b/scripts/evaluation/world_model_interaction.py index ccc9747..2b5746e 100644 --- a/scripts/evaluation/world_model_interaction.py +++ b/scripts/evaluation/world_model_interaction.py @@ -1,32 +1,35 @@ -import argparse, os, glob -import pandas as pd -import random -import torch -import torchvision -import h5py +import argparse, os, glob +import json +import pandas as pd +import random +import torch +import torchvision +import h5py import numpy as np import logging import einops -import warnings -import imageio - -from pytorch_lightning import seed_everything -from omegaconf import OmegaConf -from tqdm import tqdm -from einops import rearrange, repeat -from collections import OrderedDict -from torch import nn -from eval_utils import populate_queues, log_to_tensorboard -from collections import deque -from torch import Tensor -from torch.utils.tensorboard import SummaryWriter -from PIL import Image +import warnings +import imageio +import time + +from pytorch_lightning import seed_everything +from omegaconf import OmegaConf +from tqdm import tqdm +from einops import rearrange, repeat +from collections import OrderedDict +from torch import nn +import torch.nn.functional as F +from eval_utils import populate_queues, log_to_tensorboard +from collections import deque +from torch import Tensor +from torch.utils.tensorboard import SummaryWriter +from PIL import Image from unifolm_wma.models.samplers.ddim import DDIMSampler from unifolm_wma.utils.utils import instantiate_from_config -def get_device_from_parameters(module: nn.Module) -> torch.device: +def get_device_from_parameters(module: nn.Module) -> torch.device: """Get a module's device by checking one of its parameters. Args: @@ -35,7 +38,413 @@ def get_device_from_parameters(module: nn.Module) -> torch.device: Returns: torch.device: The device of the model's parameters. """ - return next(iter(module.parameters())).device + return next(iter(module.parameters())).device + + +def get_scene_name(sample: pd.Series, fallback: str) -> str: + """Resolve the scene label used in analysis logs.""" + if 'data_dir' in sample and pd.notna(sample['data_dir']): + return str(sample['data_dir']) + return fallback + + +def build_sample_id(dataset: str, sample: pd.Series, frame_stride: int) -> str: + """Build a stable sample id while keeping the required CSV schema flat.""" + return f"{dataset}-vid{sample['videoid']}-fs{frame_stride}" + + +def flatten_batch_tensor(tensor: torch.Tensor) -> torch.Tensor: + """Flatten all non-batch dimensions for batched metric computation.""" + return tensor.detach().float().reshape(tensor.shape[0], -1) + + +def batch_relative_l2(current: torch.Tensor, + previous: torch.Tensor) -> list[float]: + """Compute ||current-previous|| / ||previous|| for each item in the batch.""" + current_flat = flatten_batch_tensor(current) + previous_flat = flatten_batch_tensor(previous) + numerator = torch.linalg.vector_norm(current_flat - previous_flat, dim=1) + denominator = torch.linalg.vector_norm(previous_flat, dim=1).clamp_min(1e-8) + return (numerator / denominator).cpu().tolist() + + +def batch_l2_distance(current: torch.Tensor, + reference: torch.Tensor) -> list[float]: + """Compute L2 distance against a reference tensor for each batch item.""" + current_flat = flatten_batch_tensor(current) + reference_flat = flatten_batch_tensor(reference) + return torch.linalg.vector_norm(current_flat - reference_flat, + dim=1).cpu().tolist() + + +def batch_cosine_similarity(current: torch.Tensor, + reference: torch.Tensor) -> list[float]: + """Compute cosine similarity against a reference tensor for each batch item.""" + current_flat = flatten_batch_tensor(current) + reference_flat = flatten_batch_tensor(reference) + return F.cosine_similarity(current_flat, + reference_flat, + dim=1, + eps=1e-8).cpu().tolist() + + +def first_consecutive_below(values: list[float], threshold: float, + window: int) -> float: + """Return the first 1-based index where `window` consecutive values are below threshold.""" + if window <= 0 or len(values) < window: + return np.nan + for start in range(len(values) - window + 1): + window_values = values[start:start + window] + if all(pd.notna(value) and value < threshold for value in window_values): + return float(start + 1) + return np.nan + + +def first_at_least(values: list[float], threshold: float) -> float: + """Return the first 1-based index where the series reaches the threshold.""" + for index, value in enumerate(values, start=1): + if pd.notna(value) and value >= threshold: + return float(index) + return np.nan + + +def first_at_most(values: list[float], threshold: float) -> float: + """Return the first 1-based index where the series drops below the threshold.""" + for index, value in enumerate(values, start=1): + if pd.notna(value) and value <= threshold: + return float(index) + return np.nan + + +def safe_mean(values: list[float]) -> float: + """Average numeric values while ignoring NaNs.""" + valid_values = [value for value in values if pd.notna(value)] + if not valid_values: + return np.nan + return float(np.mean(valid_values)) + + +def make_sampling_noise_bundle(model: nn.Module, + noise_shape: list[int]) -> dict[str, torch.Tensor]: + """Create aligned initial noise for latent, action, and state diffusion streams.""" + batch_size = noise_shape[0] + horizon = noise_shape[2] + device = model.device + return { + 'img': torch.randn(noise_shape, device=device), + 'action': torch.randn((batch_size, horizon, model.agent_action_dim), + device=device), + 'state': torch.randn((batch_size, horizon, model.agent_state_dim), + device=device), + } + + +def load_psnr_lookup(psnr_path: str | None) -> dict[str, float]: + """Load optional PSNR values keyed by sample_id or videoid.""" + if not psnr_path: + return {} + if not os.path.exists(psnr_path): + logging.warning("PSNR file not found: %s", psnr_path) + return {} + + suffix = os.path.splitext(psnr_path)[1].lower() + lookup: dict[str, float] = {} + if suffix == '.csv': + df = pd.read_csv(psnr_path) + key_column = 'sample_id' if 'sample_id' in df.columns else 'videoid' + value_column = 'psnr_full50' if 'psnr_full50' in df.columns else 'psnr' + for _, row in df.iterrows(): + if pd.notna(row[key_column]) and pd.notna(row[value_column]): + lookup[str(row[key_column])] = float(row[value_column]) + return lookup + + if suffix == '.json': + with open(psnr_path, 'r', encoding='utf-8') as file: + data = json.load(file) + if isinstance(data, dict): + if 'sample_id' in data and ('psnr_full50' in data or 'psnr' in data): + lookup[str(data['sample_id'])] = float( + data.get('psnr_full50', data['psnr'])) + else: + for key, value in data.items(): + if isinstance(value, (int, float)): + lookup[str(key)] = float(value) + elif isinstance(data, list): + for item in data: + if not isinstance(item, dict): + continue + if 'sample_id' in item and ('psnr_full50' in item or 'psnr' in + item): + lookup[str(item['sample_id'])] = float( + item.get('psnr_full50', item['psnr'])) + return lookup + + logging.warning("Unsupported PSNR file format: %s", psnr_path) + return {} + + +class InteractionAnalysisLogger: + """Collect stepwise metrics and aggregated per-sample summaries.""" + + STEP_COLUMNS = [ + 'sample_id', + 'scene', + 'pass_type', + 'round_id', + 'step', + 'step_time_s', + 'latent_delta', + 'action_delta', + 'state_delta', + 'action_cosine_vs_full50', + 'state_cosine_vs_full50', + 'latent_l2_vs_full50', + ] + SUMMARY_COLUMNS = [ + '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', + ] + ROUND_COLUMNS = [ + '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', + ] + + def __init__(self, output_dir: str, psnr_lookup: dict[str, float]): + self.output_dir = output_dir + self.psnr_lookup = psnr_lookup + self.step_rows: list[dict] = [] + self.summary_buckets: dict[tuple[str, str, str], dict] = {} + self.round_rows: list[dict] = [] + self.round_buckets: dict[tuple[str, str], dict] = {} + self.prev_policy_action: dict[str, torch.Tensor] = {} + self.prev_world_latent: dict[str, torch.Tensor] = {} + + def resolve_psnr(self, sample_id: str, videoid: int) -> float: + """Resolve a PSNR value by full sample id first, then by raw video id.""" + candidates = [sample_id, sample_id.rsplit('-fs', 1)[0], str(videoid)] + for candidate in candidates: + if candidate in self.psnr_lookup: + return float(self.psnr_lookup[candidate]) + return np.nan + + def append_summary_row(self, row: dict) -> None: + """Store per-round summaries and aggregate them later by sample and pass type.""" + key = (row['sample_id'], row['scene'], row['pass_type']) + metric_columns = self.SUMMARY_COLUMNS[3:] + if key not in self.summary_buckets: + self.summary_buckets[key] = { + 'sample_id': row['sample_id'], + 'scene': row['scene'], + 'pass_type': row['pass_type'], + **{column: [] for column in metric_columns}, + } + for column in metric_columns: + self.summary_buckets[key][column].append(row.get(column, np.nan)) + + def append_round_row(self, row: dict) -> None: + """Store per-round metrics and aggregate them later by sample.""" + self.round_rows.append(row) + key = (row['sample_id'], row['scene']) + metric_columns = self.ROUND_COLUMNS[3:] + if key not in self.round_buckets: + self.round_buckets[key] = { + 'sample_id': row['sample_id'], + 'scene': row['scene'], + **{column: [] for column in metric_columns}, + } + for column in metric_columns: + self.round_buckets[key][column].append(row.get(column, np.nan)) + + def collect_trace_series(self, debug_info: dict, reference_action: torch.Tensor, + reference_state: torch.Tensor, + reference_latent: torch.Tensor) -> tuple[list[float], list[float], list[float]]: + """Extract cosine/L2 curves for either the target pass or the full-50 reference pass.""" + action_cosines = [] + state_cosines = [] + latent_l2s = [] + for record in debug_info['step_records']: + action_cosines.append( + batch_cosine_similarity(record['action'], reference_action)[0]) + state_cosines.append( + batch_cosine_similarity(record['state'], reference_state)[0]) + latent_l2s.append( + batch_l2_distance(record['pred_x0'], reference_latent)[0]) + return action_cosines, state_cosines, latent_l2s + + def log_pass(self, sample_id: str, videoid: int, scene: str, pass_type: str, + round_id: int, pass_total_time_s: float, target_debug: dict, + reference_debug: dict) -> dict | None: + """Log one pass worth of stepwise and aggregated metrics.""" + if not target_debug or not target_debug.get('step_records'): + return None + if not reference_debug or not reference_debug.get('step_records'): + reference_debug = target_debug + + reference_final_action = reference_debug['step_records'][-1]['action'] + reference_final_state = reference_debug['step_records'][-1]['state'] + reference_final_latent = reference_debug['step_records'][-1]['pred_x0'] + + prev_img = target_debug['analysis_init']['img'] + prev_action = target_debug['analysis_init']['action'] + prev_state = target_debug['analysis_init']['state'] + action_deltas: list[float] = [] + state_deltas: list[float] = [] + latent_deltas: list[float] = [] + action_cosines: list[float] = [] + state_cosines: list[float] = [] + latent_l2s: list[float] = [] + + for record in target_debug['step_records']: + latent_delta = batch_relative_l2(record['img'], prev_img)[0] + action_delta = batch_relative_l2(record['action'], prev_action)[0] + state_delta = batch_relative_l2(record['state'], prev_state)[0] + action_cosine = batch_cosine_similarity(record['action'], + reference_final_action)[0] + state_cosine = batch_cosine_similarity(record['state'], + reference_final_state)[0] + latent_l2 = batch_l2_distance(record['pred_x0'], + reference_final_latent)[0] + + action_deltas.append(action_delta) + state_deltas.append(state_delta) + latent_deltas.append(latent_delta) + action_cosines.append(action_cosine) + state_cosines.append(state_cosine) + latent_l2s.append(latent_l2) + + self.step_rows.append({ + 'sample_id': sample_id, + 'scene': scene, + 'pass_type': pass_type, + 'round_id': round_id, + 'step': record['step_index'], + 'step_time_s': float(record['step_time_s']), + 'latent_delta': latent_delta, + 'action_delta': action_delta, + 'state_delta': state_delta, + 'action_cosine_vs_full50': action_cosine, + 'state_cosine_vs_full50': state_cosine, + 'latent_l2_vs_full50': latent_l2, + }) + + prev_img = record['img'] + prev_action = record['action'] + prev_state = record['state'] + + oracle_action_cosines, oracle_state_cosines, oracle_latent_l2s = self.collect_trace_series( + reference_debug, reference_final_action, reference_final_state, + reference_final_latent) + + latent_init_dist_to_prev_round = np.nan + action_drift_vs_prev_round = np.nan + if pass_type == 'policy': + previous_action = self.prev_policy_action.get(sample_id) + if previous_action is not None: + action_drift_vs_prev_round = 1.0 - batch_cosine_similarity( + reference_final_action, previous_action)[0] + self.prev_policy_action[sample_id] = reference_final_action.clone() + elif pass_type == 'world_model': + previous_latent = self.prev_world_latent.get(sample_id) + if previous_latent is not None: + latent_init_dist_to_prev_round = batch_l2_distance( + reference_final_latent, previous_latent)[0] + self.prev_world_latent[sample_id] = reference_final_latent.clone() + + summary_row = { + 'sample_id': sample_id, + 'scene': scene, + 'pass_type': pass_type, + 'pass_total_time_s': float(pass_total_time_s), + 'action_first_stable_step': np.nan, + 'state_first_stable_step': np.nan, + 'latent_first_stable_step': np.nan, + 'action_vs_full50_90pct_step': first_at_least(action_cosines, 0.90), + 'action_vs_full50_95pct_step': first_at_least(action_cosines, 0.95), + 'oracle_budget_action': first_at_least(oracle_action_cosines, 0.95), + 'oracle_budget_state': first_at_least(oracle_state_cosines, 0.95), + 'oracle_budget_latent': np.nan, + 'latent_init_dist_to_prev_round': latent_init_dist_to_prev_round, + 'action_drift_vs_prev_round': action_drift_vs_prev_round, + 'round_total_time_s': np.nan, + 'policy_pass_total_time_s': np.nan, + 'world_model_pass_total_time_s': np.nan, + 'psnr_full50': self.resolve_psnr(sample_id, videoid), + } + self.append_summary_row(summary_row) + return summary_row + + def log_round(self, sample_id: str, videoid: int, scene: str, round_id: int, + policy_pass_total_time_s: float, + world_model_pass_total_time_s: float, round_total_time_s: float, + latent_init_dist_to_prev_round: float, + action_drift_vs_prev_round: float) -> None: + """Log one interaction round consisting of one policy pass and one world-model pass.""" + self.append_round_row({ + 'sample_id': sample_id, + 'scene': scene, + 'round_id': round_id, + 'policy_pass_total_time_s': float(policy_pass_total_time_s), + 'world_model_pass_total_time_s': float(world_model_pass_total_time_s), + 'round_total_time_s': float(round_total_time_s), + 'latent_init_dist_to_prev_round': latent_init_dist_to_prev_round, + 'action_drift_vs_prev_round': action_drift_vs_prev_round, + 'psnr_full50': self.resolve_psnr(sample_id, videoid), + }) + + def flush(self) -> None: + """Write analysis CSVs to disk.""" + os.makedirs(self.output_dir, exist_ok=True) + stepwise_path = os.path.join(self.output_dir, 'stepwise_log.csv') + summary_path = os.path.join(self.output_dir, 'sample_summary.csv') + round_path = os.path.join(self.output_dir, 'round_summary.csv') + + stepwise_df = pd.DataFrame(self.step_rows, columns=self.STEP_COLUMNS) + stepwise_df.to_csv(stepwise_path, index=False) + + round_df = pd.DataFrame(self.round_rows, columns=self.ROUND_COLUMNS) + round_df.to_csv(round_path, index=False) + + summary_rows = [] + metric_columns = self.SUMMARY_COLUMNS[3:] + for bucket in self.summary_buckets.values(): + round_bucket = self.round_buckets.get((bucket['sample_id'], + bucket['scene'])) + row = { + 'sample_id': bucket['sample_id'], + 'scene': bucket['scene'], + 'pass_type': bucket['pass_type'], + } + for column in metric_columns: + if round_bucket is not None and column in round_bucket: + row[column] = safe_mean(round_bucket[column]) + else: + row[column] = safe_mean(bucket[column]) + summary_rows.append(row) + summary_df = pd.DataFrame(summary_rows, columns=self.SUMMARY_COLUMNS) + summary_df.to_csv(summary_path, index=False) def write_video(video_path: str, stacked_frames: list, fps: int) -> None: @@ -312,22 +721,25 @@ def preprocess_observation( return return_observations -def image_guided_synthesis_sim_mode( - model: torch.nn.Module, - prompts: list[str], - observation: dict, - noise_shape: tuple[int, int, int, int, int], +def image_guided_synthesis_sim_mode( + model: torch.nn.Module, + prompts: list[str], + observation: dict, + noise_shape: tuple[int, int, int, int, int], action_cond_step: int = 16, n_samples: int = 1, ddim_steps: int = 50, ddim_eta: float = 1.0, unconditional_guidance_scale: float = 1.0, fs: int | None = None, - text_input: bool = True, - timestep_spacing: str = 'uniform', - guidance_rescale: float = 0.0, - sim_mode: bool = True, - **kwargs) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]: + text_input: bool = True, + timestep_spacing: str = 'uniform', + guidance_rescale: float = 0.0, + sim_mode: bool = True, + init_noise_bundle: dict[str, torch.Tensor] | None = None, + decode_video: bool = True, + return_debug_info: bool = False, + **kwargs) -> tuple[torch.Tensor | None, torch.Tensor, torch.Tensor, dict | None]: """ Performs image-guided video generation in a simulation-style mode with optional multimodal guidance (image, state, action, text). @@ -350,18 +762,24 @@ def image_guided_synthesis_sim_mode( timestep_spacing (str): Timestep sampling method in DDIM sampler. Typically "uniform" or "linspace". guidance_rescale (float): Guidance rescaling factor to mitigate overexposure from classifier-free guidance. sim_mode (bool): Whether to perform world-model interaction or decision-making using the world-model. - **kwargs: Additional arguments passed to the DDIM sampler. - - Returns: - batch_variants (torch.Tensor): Predicted pixel-space video frames [B, C, T, H, W]. - actions (torch.Tensor): Predicted action sequences [B, T, D] from diffusion decoding. - states (torch.Tensor): Predicted state sequences [B, T, D] from diffusion decoding. + init_noise_bundle (dict[str, torch.Tensor] | None): Optional aligned noise inputs for latent/action/state. + decode_video (bool): Whether to decode the final latent into pixel space. + return_debug_info (bool): Whether to return per-step traces for analysis logging. + **kwargs: Additional arguments passed to the DDIM sampler. + + Returns: + batch_variants (torch.Tensor | None): Predicted pixel-space video frames [B, C, T, H, W]. + actions (torch.Tensor): Predicted action sequences [B, T, D] from diffusion decoding. + states (torch.Tensor): Predicted state sequences [B, T, D] from diffusion decoding. + debug_info (dict | None): Optional per-step trace used for convergence analysis. """ - b, _, t, _, _ = noise_shape - ddim_sampler = DDIMSampler(model) - batch_size = noise_shape[0] - - fs = torch.tensor([fs] * batch_size, dtype=torch.long, device=model.device) + b, _, t, _, _ = noise_shape + ddim_sampler = DDIMSampler(model) + batch_size = noise_shape[0] + batch_variants = None + debug_info = None + + fs = torch.tensor([fs] * batch_size, dtype=torch.long, device=model.device) img = observation['observation.images.top'].permute(0, 2, 1, 3, 4) cond_img = rearrange(img, 'b o c h w -> (b o) c h w')[-1:] @@ -406,11 +824,11 @@ def image_guided_synthesis_sim_mode( kwargs.update({"unconditional_conditioning_img_nonetext": None}) cond_mask = None cond_z0 = None - if ddim_sampler is not None: - samples, actions, states, intermedia = ddim_sampler.sample( - S=ddim_steps, - conditioning=cond, - batch_size=batch_size, + if ddim_sampler is not None: + samples, actions, states, intermedia = ddim_sampler.sample( + S=ddim_steps, + conditioning=cond, + batch_size=batch_size, shape=noise_shape[1:], verbose=False, unconditional_guidance_scale=unconditional_guidance_scale, @@ -418,20 +836,35 @@ def image_guided_synthesis_sim_mode( eta=ddim_eta, cfg_img=None, mask=cond_mask, - x0=cond_z0, - fs=fs, - timestep_spacing=timestep_spacing, - guidance_rescale=guidance_rescale, - **kwargs) - - # Reconstruct from latent to pixel space - batch_images = model.decode_first_stage(samples) - batch_variants = batch_images - - return batch_variants, actions, states - - -def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: + x0=cond_z0, + fs=fs, + timestep_spacing=timestep_spacing, + guidance_rescale=guidance_rescale, + x_T=None if init_noise_bundle is None else init_noise_bundle['img'], + action_T=None if init_noise_bundle is None else + init_noise_bundle['action'], + state_T=None if init_noise_bundle is None else + init_noise_bundle['state'], + record_step_outputs=return_debug_info, + **kwargs) + + batch_variants = None + if decode_video: + batch_variants = model.decode_first_stage(samples) + + if return_debug_info: + debug_info = { + 'analysis_init': intermedia.get('analysis_init'), + 'step_records': intermedia.get('step_records', []), + 'final_latent': samples.detach().cpu(), + 'final_action': actions.detach().cpu(), + 'final_state': states.detach().cpu(), + } + + return batch_variants, actions, states, debug_info + + +def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: """ Run inference pipeline on prompts and image inputs. @@ -443,11 +876,18 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: Returns: None """ - # Create inference and tensorboard dirs - os.makedirs(args.savedir + '/inference', exist_ok=True) - log_dir = args.savedir + f"/tensorboard" - os.makedirs(log_dir, exist_ok=True) - writer = SummaryWriter(log_dir=log_dir) + # Create inference and tensorboard dirs + inference_dir = args.savedir + '/inference' + os.makedirs(inference_dir, exist_ok=True) + log_dir = args.savedir + f"/tensorboard" + os.makedirs(log_dir, exist_ok=True) + writer = SummaryWriter(log_dir=log_dir) + analysis_logger = None + if args.analysis_log_metrics: + analysis_logger = InteractionAnalysisLogger( + output_dir=inference_dir, + psnr_lookup=load_psnr_lookup(args.analysis_psnr_path), + ) # Load prompt csv_path = os.path.join(args.prompt_dir, f"{args.dataset}.csv") @@ -474,10 +914,14 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: device = get_device_from_parameters(model) # Run over data - assert (args.height % 16 == 0) and ( - args.width % 16 - == 0), "Error: image size [h,w] should be multiples of 16!" - assert args.bs == 1, "Current implementation only support [batch size = 1]!" + assert (args.height % 16 == 0) and ( + args.width % 16 + == 0), "Error: image size [h,w] should be multiples of 16!" + assert args.bs == 1, "Current implementation only support [batch size = 1]!" + if args.analysis_log_metrics: + assert args.ddim_steps > 0, "analysis_log_metrics requires positive --ddim_steps." + assert args.analysis_reference_steps > 0, ( + "analysis_log_metrics requires positive --analysis_reference_steps.") # Get latent noise shape h, w = args.height // 8, args.width // 8 @@ -508,12 +952,14 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: for key in h5f.attrs.keys(): transition_dict[key] = h5f.attrs[key] - # If many, test various frequence control and world-model generation - for fs in args.frame_stride: - - # For saving imagens in policy - sample_save_dir = f'{video_save_dir}/dm/{fs}' - os.makedirs(sample_save_dir, exist_ok=True) + # If many, test various frequence control and world-model generation + for fs in args.frame_stride: + sample_id = build_sample_id(args.dataset, sample, fs) + scene = get_scene_name(sample, args.dataset) + + # For saving imagens in policy + sample_save_dir = f'{video_save_dir}/dm/{fs}' + os.makedirs(sample_save_dir, exist_ok=True) # For saving environmental changes in world-model sample_save_dir = f'{video_save_dir}/wm/{fs}' os.makedirs(sample_save_dir, exist_ok=True) @@ -552,11 +998,12 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: # Update observation queues cond_obs_queues = populate_queues(cond_obs_queues, observation) - # Multi-round interaction with the world-model - for itr in tqdm(range(args.n_iter)): - - # Get observation - observation = { + # Multi-round interaction with the world-model + for itr in tqdm(range(args.n_iter)): + round_start_time = time.time() + + # Get observation + observation = { 'observation.images.top': torch.stack(list( cond_obs_queues['observation.images.top']), @@ -566,33 +1013,72 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: dim=1), 'action': torch.stack(list(cond_obs_queues['action']), dim=1), - } - observation = { - key: observation[key].to(device, non_blocking=True) - for key in observation - } - - # Use world-model in policy to generate action - print(f'>>> Step {itr}: generating actions ...') - pred_videos_0, pred_actions, _ = image_guided_synthesis_sim_mode( - model, - sample['instruction'], - observation, - noise_shape, - action_cond_step=args.exe_steps, + } + observation = { + key: observation[key].to(device, non_blocking=True) + for key in observation + } + + # Use world-model in policy to generate action + print(f'>>> Step {itr}: generating actions ...') + policy_noise_bundle = make_sampling_noise_bundle( + model, noise_shape) if args.analysis_log_metrics else None + policy_reference_debug = None + if args.analysis_log_metrics and args.analysis_reference_steps != args.ddim_steps: + _, _, _, policy_reference_debug = image_guided_synthesis_sim_mode( + model, + sample['instruction'], + observation, + noise_shape, + action_cond_step=args.exe_steps, + ddim_steps=args.analysis_reference_steps, + ddim_eta=args.ddim_eta, + unconditional_guidance_scale=args. + unconditional_guidance_scale, + fs=model_input_fs, + timestep_spacing=args.timestep_spacing, + guidance_rescale=args.guidance_rescale, + sim_mode=False, + init_noise_bundle=policy_noise_bundle, + decode_video=False, + return_debug_info=True) + policy_pass_start = time.time() + pred_videos_0, pred_actions, _, policy_debug = image_guided_synthesis_sim_mode( + model, + sample['instruction'], + observation, + noise_shape, + action_cond_step=args.exe_steps, ddim_steps=args.ddim_steps, ddim_eta=args.ddim_eta, - unconditional_guidance_scale=args. - unconditional_guidance_scale, - fs=model_input_fs, - timestep_spacing=args.timestep_spacing, - guidance_rescale=args.guidance_rescale, - sim_mode=False) - - # Update future actions in the observation queues - for idx in range(len(pred_actions[0])): - observation = {'action': pred_actions[0][idx:idx + 1]} - observation['action'][:, ori_action_dim:] = 0.0 + unconditional_guidance_scale=args. + unconditional_guidance_scale, + fs=model_input_fs, + timestep_spacing=args.timestep_spacing, + guidance_rescale=args.guidance_rescale, + sim_mode=False, + init_noise_bundle=policy_noise_bundle, + return_debug_info=args.analysis_log_metrics) + policy_pass_total_time_s = time.time() - policy_pass_start + policy_summary_row = None + if analysis_logger is not None: + if policy_reference_debug is None: + policy_reference_debug = policy_debug + policy_summary_row = analysis_logger.log_pass( + sample_id=sample_id, + videoid=int(sample['videoid']), + scene=scene, + pass_type='policy', + round_id=itr, + pass_total_time_s=policy_pass_total_time_s, + target_debug=policy_debug, + reference_debug=policy_reference_debug, + ) + + # Update future actions in the observation queues + for idx in range(len(pred_actions[0])): + observation = {'action': pred_actions[0][idx:idx + 1]} + observation['action'][:, ori_action_dim:] = 0.0 cond_obs_queues = populate_queues(cond_obs_queues, observation) @@ -611,29 +1097,84 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: observation = { key: observation[key].to(device, non_blocking=True) for key in observation - } - - # Interaction with the world-model - print(f'>>> Step {itr}: interacting with world model ...') - pred_videos_1, _, pred_states = image_guided_synthesis_sim_mode( - model, - "", - observation, - noise_shape, - action_cond_step=args.exe_steps, + } + + # Interaction with the world-model + print(f'>>> Step {itr}: interacting with world model ...') + world_noise_bundle = make_sampling_noise_bundle( + model, noise_shape) if args.analysis_log_metrics else None + world_reference_debug = None + if args.analysis_log_metrics and args.analysis_reference_steps != args.ddim_steps: + _, _, _, world_reference_debug = image_guided_synthesis_sim_mode( + model, + "", + observation, + noise_shape, + action_cond_step=args.exe_steps, + ddim_steps=args.analysis_reference_steps, + ddim_eta=args.ddim_eta, + unconditional_guidance_scale=args. + unconditional_guidance_scale, + fs=model_input_fs, + text_input=False, + timestep_spacing=args.timestep_spacing, + guidance_rescale=args.guidance_rescale, + init_noise_bundle=world_noise_bundle, + decode_video=False, + return_debug_info=True) + world_pass_start = time.time() + pred_videos_1, _, pred_states, world_debug = image_guided_synthesis_sim_mode( + model, + "", + observation, + noise_shape, + action_cond_step=args.exe_steps, ddim_steps=args.ddim_steps, ddim_eta=args.ddim_eta, - unconditional_guidance_scale=args. - unconditional_guidance_scale, - fs=model_input_fs, - text_input=False, - timestep_spacing=args.timestep_spacing, - guidance_rescale=args.guidance_rescale) - - for idx in range(args.exe_steps): - observation = { - 'observation.images.top': - pred_videos_1[0][:, idx:idx + 1].permute(1, 0, 2, 3), + unconditional_guidance_scale=args. + unconditional_guidance_scale, + fs=model_input_fs, + text_input=False, + timestep_spacing=args.timestep_spacing, + guidance_rescale=args.guidance_rescale, + init_noise_bundle=world_noise_bundle, + return_debug_info=args.analysis_log_metrics) + world_pass_total_time_s = time.time() - world_pass_start + world_summary_row = None + if analysis_logger is not None: + if world_reference_debug is None: + world_reference_debug = world_debug + world_summary_row = analysis_logger.log_pass( + sample_id=sample_id, + videoid=int(sample['videoid']), + scene=scene, + pass_type='world_model', + round_id=itr, + pass_total_time_s=world_pass_total_time_s, + target_debug=world_debug, + reference_debug=world_reference_debug, + ) + analysis_logger.log_round( + sample_id=sample_id, + videoid=int(sample['videoid']), + scene=scene, + round_id=itr, + policy_pass_total_time_s=policy_pass_total_time_s, + world_model_pass_total_time_s= + world_pass_total_time_s, + round_total_time_s=time.time() - round_start_time, + latent_init_dist_to_prev_round=np.nan + if world_summary_row is None else + world_summary_row['latent_init_dist_to_prev_round'], + action_drift_vs_prev_round=np.nan + if policy_summary_row is None else + policy_summary_row['action_drift_vs_prev_round'], + ) + + for idx in range(args.exe_steps): + observation = { + 'observation.images.top': + pred_videos_1[0][:, idx:idx + 1].permute(1, 0, 2, 3), 'observation.state': torch.zeros_like(pred_states[0][idx:idx + 1]) if args.zero_pred_state else pred_states[0][idx:idx + 1], @@ -678,8 +1219,12 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: full_video, sample_tag, fps=args.save_fps) - sample_full_video_file = f"{video_save_dir}/../{sample['videoid']}_full_fs{fs}.mp4" - save_results(full_video, sample_full_video_file, fps=args.save_fps) + sample_full_video_file = f"{video_save_dir}/../{sample['videoid']}_full_fs{fs}.mp4" + save_results(full_video, sample_full_video_file, fps=args.save_fps) + + if analysis_logger is not None: + analysis_logger.flush() + writer.close() def get_parser(): @@ -794,11 +1339,25 @@ def get_parser(): action='store_true', default=False, help="not using the predicted states as comparison") - parser.add_argument("--save_fps", - type=int, - default=8, - help="fps for the saving video") - return parser + parser.add_argument("--save_fps", + type=int, + default=8, + help="fps for the saving video") + parser.add_argument("--analysis_log_metrics", + action='store_true', + default=False, + help="Enable DDIM convergence logging and export analysis CSVs.") + parser.add_argument( + "--analysis_reference_steps", + type=int, + default=50, + help="Reference DDIM steps used to build the full-step baseline for *_vs_full50 metrics." + ) + parser.add_argument("--analysis_psnr_path", + type=str, + default=None, + help="Optional CSV/JSON file with psnr_full50 values keyed by sample_id or videoid.") + return parser if __name__ == '__main__': diff --git a/scripts/run_all_world_model_cases.sh b/scripts/run_all_world_model_cases.sh new file mode 100644 index 0000000..df62fa9 --- /dev/null +++ b/scripts/run_all_world_model_cases.sh @@ -0,0 +1,58 @@ +#!/usr/bin/env bash + +set -euo pipefail + +repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" +cd "${repo_root}" + +run_analysis="${RUN_ANALYSIS:-1}" +case_filter="${CASE_FILTER:-}" + +case_scripts=( + "unitree_z1_stackbox/case1/run_world_model_interaction.sh" + "unitree_z1_stackbox/case2/run_world_model_interaction.sh" + "unitree_z1_stackbox/case3/run_world_model_interaction.sh" + "unitree_z1_stackbox/case4/run_world_model_interaction.sh" + "unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh" + "unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh" + "unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh" + "unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh" + "unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh" + "unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh" + "unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh" + "unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh" + "unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh" + "unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh" + "unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh" + "unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh" + "unitree_g1_pack_camera/case1/run_world_model_interaction.sh" + "unitree_g1_pack_camera/case2/run_world_model_interaction.sh" + "unitree_g1_pack_camera/case3/run_world_model_interaction.sh" + "unitree_g1_pack_camera/case4/run_world_model_interaction.sh" +) + +for case_script in "${case_scripts[@]}"; do + if [[ -n "${case_filter}" ]] && [[ "${case_script}" != *"${case_filter}"* ]]; then + continue + fi + + case_dir="$(dirname "${case_script}")" + inference_dir="${repo_root}/${case_dir}/output/inference" + + echo "============================================================" + echo "Running ${case_script}" + echo "============================================================" + bash "${repo_root}/${case_script}" + + if [[ "${run_analysis}" == "1" ]]; then + if [[ -f "${inference_dir}/stepwise_log.csv" ]] && \ + [[ -f "${inference_dir}/sample_summary.csv" ]] && \ + [[ -f "${inference_dir}/round_summary.csv" ]]; then + echo "Analyzing ${case_dir}" + python3 "${repo_root}/scripts/evaluation/analyze_metrics.py" \ + --input_dir "${inference_dir}" + else + echo "Skipping analysis for ${case_dir}: missing analysis CSVs." + fi + fi +done diff --git a/scripts/run_world_model_interaction.sh b/scripts/run_world_model_interaction.sh index e8fc586..b382dc7 100644 --- a/scripts/run_world_model_interaction.sh +++ b/scripts/run_world_model_interaction.sh @@ -3,6 +3,8 @@ ckpt=/path/to/model/checkpoint config=configs/inference/world_model_interaction.yaml seed=123 res_dir="/path/to/result/directory" +analysis_reference_steps=50 +# analysis_psnr_path="/path/to/psnr_full50.csv" datasets=( "unitree_z1_stackbox" @@ -19,6 +21,13 @@ for i in "${!datasets[@]}"; do dataset=${datasets[$i]} n_iter=${n_iters[$i]} fs=${fses[$i]} + analysis_args=( + --analysis_log_metrics + --analysis_reference_steps ${analysis_reference_steps} + ) + if [ -n "${analysis_psnr_path:-}" ]; then + analysis_args+=(--analysis_psnr_path "${analysis_psnr_path}") + fi CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \ --seed ${seed} \ @@ -38,5 +47,6 @@ for i in "${!datasets[@]}"; do --n_iter ${n_iter} \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + "${analysis_args[@]}" done diff --git a/src/unifolm_wma/models/samplers/ddim.py b/src/unifolm_wma/models/samplers/ddim.py index 77602a1..5ef8070 100644 --- a/src/unifolm_wma/models/samplers/ddim.py +++ b/src/unifolm_wma/models/samplers/ddim.py @@ -1,6 +1,7 @@ import numpy as np import torch import copy +import time from unifolm_wma.utils.diffusion import make_ddim_sampling_parameters, make_ddim_timesteps, rescale_noise_cfg from unifolm_wma.utils.common import noise_like @@ -106,6 +107,9 @@ class DDIMSampler(object): fs=None, timestep_spacing='uniform', #uniform_trailing for starting from last timestep guidance_rescale=0.0, + action_T=None, + state_T=None, + record_step_outputs=False, **kwargs): # Check condition bs @@ -161,6 +165,9 @@ class DDIMSampler(object): precision=precision, fs=fs, guidance_rescale=guidance_rescale, + action_T=action_T, + state_T=state_T, + record_step_outputs=record_step_outputs, **kwargs) return samples, actions, states, intermediates @@ -187,24 +194,30 @@ class DDIMSampler(object): precision=None, fs=None, guidance_rescale=0.0, + action_T=None, + state_T=None, + record_step_outputs=False, **kwargs): device = self.model.betas.device dp_ddim_scheduler_action = self.model.dp_noise_scheduler_action dp_ddim_scheduler_state = self.model.dp_noise_scheduler_state b = shape[0] + horizon = shape[2] if len(shape) >= 3 else 16 if x_T is None: img = torch.randn(shape, device=device) - action = torch.randn((b, 16, self.model.agent_action_dim), - device=device) - state = torch.randn((b, 16, self.model.agent_state_dim), - device=device) else: img = x_T - action = torch.randn((b, 16, self.model.agent_action_dim), + if action_T is None: + action = torch.randn((b, horizon, self.model.agent_action_dim), device=device) - state = torch.randn((b, 16, self.model.agent_state_dim), + else: + action = action_T + if state_T is None: + state = torch.randn((b, horizon, self.model.agent_state_dim), device=device) + else: + state = state_T if precision is not None: if precision == 16: @@ -228,6 +241,13 @@ class DDIMSampler(object): 'x_inter_state': [state], 'pred_x0_state': [state], } + if record_step_outputs: + intermediates['analysis_init'] = { + 'img': img.detach().cpu(), + 'action': action.detach().cpu(), + 'state': state.detach().cpu(), + } + intermediates['step_records'] = [] time_range = reversed(range( 0, timesteps)) if ddim_use_original_steps else np.flip(timesteps) total_steps = timesteps if ddim_use_original_steps else timesteps.shape[ @@ -238,6 +258,9 @@ class DDIMSampler(object): iterator = time_range clean_cond = kwargs.pop("clean_cond", False) + sync_device = device if isinstance(device, torch.device) else torch.device( + device) + should_sync = record_step_outputs and sync_device.type == "cuda" dp_ddim_scheduler_action.set_timesteps(len(timesteps)) dp_ddim_scheduler_state.set_timesteps(len(timesteps)) @@ -254,6 +277,10 @@ class DDIMSampler(object): img_orig = self.model.q_sample(x0, ts) img = img_orig * mask + (1. - mask) * img + if should_sync: + torch.cuda.synchronize(sync_device) + step_start_time = time.time() + outs = self.p_sample_ddim( img, action, @@ -290,6 +317,10 @@ class DDIMSampler(object): generator=None, ).prev_sample + if should_sync: + torch.cuda.synchronize(sync_device) + step_time_s = time.time() - step_start_time + if callback: callback(i) if img_callback: img_callback(pred_x0, i) @@ -298,6 +329,16 @@ class DDIMSampler(object): intermediates['pred_x0'].append(pred_x0) intermediates['x_inter_action'].append(action) intermediates['x_inter_state'].append(state) + if record_step_outputs: + intermediates['step_records'].append({ + 'step_index': i + 1, + 'ddim_timestep': int(step), + 'img': img.detach().cpu(), + 'pred_x0': pred_x0.detach().cpu(), + 'action': action.detach().cpu(), + 'state': state.detach().cpu(), + 'step_time_s': step_time_s, + }) return img, action, state, intermediates diff --git a/unitree_g1_pack_camera/case1/output/inference/analysis/analysis_report.md b/unitree_g1_pack_camera/case1/output/inference/analysis/analysis_report.md new file mode 100644 index 0000000..21e6699 --- /dev/null +++ b/unitree_g1_pack_camera/case1/output/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: 1100 +- Sample rows: 2 +- Round rows: 11 +- Scenes: unitree_g1_pack_camera +- 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=119.6001, median=138.8359, p90=169.4805, p95=174.5434 + +### 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=46.6364, median=46.6364, p90=46.6364, p95=46.6364 +- `share_action_first_stable_before_latent`: nan +- `share_action_95pct_before_latent`: nan + +### Direction D: Cross-Step Similarity + +- `latent_delta_mid_steps`: mean=0.3526, median=0.3488, p90=0.4169, p95=0.4275 +- `action_delta_mid_steps`: mean=0.0318, median=0.0300, p90=0.0453, p95=0.0481 +- `state_delta_mid_steps`: mean=0.0311, median=0.0302, p90=0.0437, p95=0.0460 + +### Direction A: Budget Heterogeneity + +- `oracle_budget_action`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364 +- `oracle_budget_state`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273 +- `oracle_budget_action_by_scene`: + - `unitree_g1_pack_camera`: mean=46.6364, median=46.6364, std=0.0000 + +### Direction B: Round Reuse + +- `latent_init_dist_to_prev_round`: mean=229.0488, median=228.5274, p90=251.0416, p95=257.7575 +- `action_drift_vs_prev_round`: mean=0.1520, median=0.1298, p90=0.2520, p95=0.3113 +- `round_total_time_s`: mean=150.0686, median=151.2592, p90=152.1900, p95=152.5157 +- `policy_pass_total_time_s`: mean=73.6966, median=74.1877, p90=74.7325, p95=74.8893 +- `world_model_pass_total_time_s`: mean=73.2965, median=74.3135, 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+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,42,1.4645659923553467,0.2115822285413742,0.07409681379795074,0.0698259025812149,0.7873462438583374,0.7714712619781494,60.27605056762695 +unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,43,1.4643986225128174,0.20102541148662567,0.07676874101161957,0.07333533465862274,0.8296490907669067,0.8112667798995972,53.95634841918945 +unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,44,1.4524352550506592,0.19072727859020233,0.07855524867773056,0.07729092985391617,0.8693881034851074,0.8506708145141602,47.610443115234375 +unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,45,1.2280910015106201,0.18061326444149017,0.08084443211555481,0.07902772724628448,0.9056888222694397,0.8873851895332336,41.57780456542969 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+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,50,1.261866807937622,0.11338621377944946,0.10341858118772507,0.12581025063991547,0.9999999403953552,0.9999999403953552,0.0 diff --git a/unitree_g1_pack_camera/case1/run_world_model_interaction.sh b/unitree_g1_pack_camera/case1/run_world_model_interaction.sh index e0e900f..ae49220 100644 --- a/unitree_g1_pack_camera/case1/run_world_model_interaction.sh +++ b/unitree_g1_pack_camera/case1/run_world_model_interaction.sh @@ -20,5 +20,7 @@ dataset="unitree_g1_pack_camera" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case2/output/inference/analysis/analysis_report.md b/unitree_g1_pack_camera/case2/output/inference/analysis/analysis_report.md new file mode 100644 index 0000000..ea20aed --- /dev/null +++ b/unitree_g1_pack_camera/case2/output/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: 1100 +- Sample rows: 2 +- Round rows: 11 +- Scenes: unitree_g1_pack_camera +- 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=118.1448, median=137.2515, p90=165.2197, p95=172.7743 + +### 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=46.7273, median=46.7273, p90=46.7273, p95=46.7273 +- `share_action_first_stable_before_latent`: nan +- `share_action_95pct_before_latent`: nan + +### Direction D: Cross-Step Similarity + +- `latent_delta_mid_steps`: mean=0.3529, median=0.3489, p90=0.4169, p95=0.4276 +- `action_delta_mid_steps`: mean=0.0313, median=0.0298, p90=0.0451, p95=0.0483 +- `state_delta_mid_steps`: mean=0.0310, median=0.0300, p90=0.0436, p95=0.0460 + +### Direction A: Budget Heterogeneity + +- `oracle_budget_action`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273 +- `oracle_budget_state`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000 +- `oracle_budget_action_by_scene`: + - `unitree_g1_pack_camera`: mean=46.7273, median=46.7273, std=0.0000 + +### Direction B: Round Reuse + +- `latent_init_dist_to_prev_round`: mean=236.4804, median=243.4704, p90=257.5054, p95=261.9766 +- `action_drift_vs_prev_round`: mean=0.2621, median=0.2435, p90=0.4256, p95=0.5909 +- `round_total_time_s`: mean=151.4911, median=151.4212, p90=152.2260, p95=152.4231 +- 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zN(p#*95v&#o%^b`Qzwrw5SZd<3UX`BYd7N!3F?TXa;lyN*qg|9$$6-k7-D@){_P{G z>6H^P9dQuAvtD9yL+6~iJPfac9i3FOZF7f5EN7X;oFlsu-#U}QG{=H~wAu)`((}{k zJ5gIyhrgh5AIxKk^df()~rBhN8b59$FwCyeJKMHwn?42BcBaG#I+3I(*}C% zw)w@bWNWAcP8NsmQ(qx7MQAIpRyB(Hgw?V%C#U8@oY=3$4|?tHezF5i08&!bgGqJDzpZ)%}rzc`uB!H|Wo1rds^c7IShKVcYRj&FOhS>@v!u88na{fN0#r9+Efn=cuepXG$#fX^>Os6gZr-G+~I#ghL|{ zBv@73kanbHWo3PqIVwB}7mfAA9Dt2kyFG(Nh24q`EqqSI$0HxoT#9^**K z3x?eq`&L!-WBnhPsN%l4+vHFnCsKUb1hV@U@&G&>_5c zmi~3>RJUQ0ZhR(PD|%thU5ZE-zv!u+pj3Wq9YUm@oyrXKT-V!YHKoY!yh}Oyjm;ZY{&7Ey$ zSL)Tmfd!ZP^dG!Vzek5kdWDDT0&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case3/output/inference/analysis/analysis_report.md b/unitree_g1_pack_camera/case3/output/inference/analysis/analysis_report.md new file mode 100644 index 0000000..46bd42d --- /dev/null +++ b/unitree_g1_pack_camera/case3/output/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: 1100 +- Sample rows: 2 +- Round rows: 11 +- Scenes: unitree_g1_pack_camera +- 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=116.0635, median=135.1986, p90=161.0852, p95=169.8322 + +### 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=46.6364, median=46.6364, p90=46.6364, p95=46.6364 +- `share_action_first_stable_before_latent`: nan +- `share_action_95pct_before_latent`: nan + +### Direction D: Cross-Step Similarity + +- `latent_delta_mid_steps`: mean=0.3529, median=0.3489, p90=0.4169, p95=0.4276 +- `action_delta_mid_steps`: mean=0.0320, median=0.0307, p90=0.0455, p95=0.0488 +- `state_delta_mid_steps`: mean=0.0312, median=0.0301, p90=0.0439, p95=0.0465 + +### Direction A: Budget Heterogeneity + +- `oracle_budget_action`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364 +- `oracle_budget_state`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273 +- `oracle_budget_action_by_scene`: + - `unitree_g1_pack_camera`: mean=46.6364, median=46.6364, std=0.0000 + +### Direction B: Round Reuse + +- `latent_init_dist_to_prev_round`: mean=215.2431, median=230.0003, p90=237.2570, p95=239.0189 +- `action_drift_vs_prev_round`: mean=0.2697, median=0.2050, p90=0.4657, p95=0.6923 +- `round_total_time_s`: mean=147.1026, median=152.2600, p90=152.9385, p95=152.9569 +- `policy_pass_total_time_s`: mean=71.2595, median=74.7608, p90=74.9093, p95=75.1472 +- `world_model_pass_total_time_s`: mean=73.1823, median=74.7396, p90=74.9509, p95=74.9599 + diff --git 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+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,49,1.4583463668823242,0.13857455551624298,0.07456428557634354,0.07191193848848343,0.9963197708129883,0.9956763386726379,13.814658164978027 +unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,50,1.4626877307891846,0.11706511676311493,0.08949991315603256,0.0952083095908165,1.0,0.9999998807907104,0.0 diff --git a/unitree_g1_pack_camera/case3/run_world_model_interaction.sh b/unitree_g1_pack_camera/case3/run_world_model_interaction.sh index 87e3098..168eea2 100644 --- a/unitree_g1_pack_camera/case3/run_world_model_interaction.sh +++ b/unitree_g1_pack_camera/case3/run_world_model_interaction.sh @@ -20,5 +20,7 @@ dataset="unitree_g1_pack_camera" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case4/output/inference/analysis/analysis_report.md b/unitree_g1_pack_camera/case4/output/inference/analysis/analysis_report.md new file mode 100644 index 0000000..2f4f47a --- /dev/null +++ b/unitree_g1_pack_camera/case4/output/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: 1100 +- Sample rows: 2 +- Round rows: 11 +- Scenes: unitree_g1_pack_camera +- 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=123.5010, median=143.1178, p90=173.0218, p95=183.1080 + +### 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=46.6364, median=46.6364, p90=46.6364, p95=46.6364 +- `share_action_first_stable_before_latent`: nan +- `share_action_95pct_before_latent`: nan + +### Direction D: Cross-Step Similarity + +- `latent_delta_mid_steps`: mean=0.3512, median=0.3474, p90=0.4163, p95=0.4272 +- `action_delta_mid_steps`: mean=0.0318, median=0.0302, p90=0.0453, p95=0.0481 +- `state_delta_mid_steps`: mean=0.0313, median=0.0303, p90=0.0440, p95=0.0461 + +### Direction A: Budget Heterogeneity + +- `oracle_budget_action`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364 +- `oracle_budget_state`: mean=46.5455, median=46.5455, p90=46.5455, p95=46.5455 +- `oracle_budget_action_by_scene`: + - `unitree_g1_pack_camera`: mean=46.6364, median=46.6364, std=0.0000 + +### Direction B: Round Reuse + +- `latent_init_dist_to_prev_round`: mean=231.5603, median=231.6096, p90=244.0158, p95=252.6133 +- `action_drift_vs_prev_round`: mean=0.2541, median=0.1514, p90=0.5899, p95=0.6868 +- `round_total_time_s`: mean=149.5150, median=149.4089, p90=150.2778, p95=150.4611 +- `policy_pass_total_time_s`: mean=73.3453, median=73.5693, p90=73.9486, p95=74.0089 +- `world_model_pass_total_time_s`: mean=73.2888, median=73.4965, p90=73.8629, p95=74.1038 + diff --git a/unitree_g1_pack_camera/case4/output/inference/analysis/budget_distribution.png b/unitree_g1_pack_camera/case4/output/inference/analysis/budget_distribution.png new file mode 100644 index 0000000000000000000000000000000000000000..a0f61dc169183fbdcc13cbf4294290b49b6de6d6 GIT binary patch literal 78227 zcmeFZbzGHc_ce|>jxCRhC`#yXKtTnSP>?XeBPAsv!XQY8(v4$bAaOuxP(VsLr5%wH z5NTXCoaQ-4^P_ z^9poy8{6pU*3_>59pCxBYh(bw30qxIwNfZYYIFR$r;UcqB-q0jsGRqKyBs#(&}vA!e!uQK~&Ek?JB zj*fc%jFMgONV}~aL&L)CM0J$U@Ap1Q4XnPyZ@9YF`;XBlcNhj`({SmWZ1O+;<&Q##dRAv{4H=H{N93Yhlx08Q^H6&uP~m zYI*p9_U_fVfdBsWr=Qf7b^rYvavJ4_!hyxW|nuWx;_OjoDG{aE4h 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file mode 100644 index 0000000..33215a9 --- /dev/null +++ b/unitree_g1_pack_camera/case4/output/inference/analysis/scene_summary.csv @@ -0,0 +1,4 @@ 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+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,49,1.4694488048553467,0.13319489359855652,0.0720728188753128,0.07006064802408218,0.9967963695526123,0.9958908557891846,14.757329940795898 +unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,50,1.470688819885254,0.11122976243495941,0.08350492268800735,0.09348692744970322,1.0000001192092896,0.9999999403953552,0.0 diff --git a/unitree_g1_pack_camera/case4/run_world_model_interaction.sh b/unitree_g1_pack_camera/case4/run_world_model_interaction.sh index 46c5217..33f3544 100644 --- a/unitree_g1_pack_camera/case4/run_world_model_interaction.sh +++ b/unitree_g1_pack_camera/case4/run_world_model_interaction.sh @@ -20,5 +20,7 @@ dataset="unitree_g1_pack_camera" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/analysis/analysis_report.md b/unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/analysis/analysis_report.md new file mode 100644 index 0000000..e0828e7 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/output/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: 800 +- Sample rows: 2 +- Round rows: 8 +- Scenes: unitree_z1_dual_arm_cleanup_pencils +- 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=116.1877, median=137.0989, p90=163.0532, p95=167.3646 + +### 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=46.5000, median=46.5000, p90=46.5000, p95=46.5000 +- `share_action_first_stable_before_latent`: nan +- `share_action_95pct_before_latent`: nan + +### Direction D: Cross-Step Similarity + +- `latent_delta_mid_steps`: mean=0.3542, median=0.3501, p90=0.4173, p95=0.4280 +- `action_delta_mid_steps`: mean=0.0295, median=0.0283, p90=0.0414, p95=0.0439 +- `state_delta_mid_steps`: mean=0.0287, median=0.0276, p90=0.0404, p95=0.0427 + +### Direction A: Budget Heterogeneity + +- `oracle_budget_action`: mean=46.5000, median=46.5000, p90=46.5000, p95=46.5000 +- `oracle_budget_state`: mean=47.1250, median=47.1250, p90=47.1250, p95=47.1250 +- `oracle_budget_action_by_scene`: + - `unitree_z1_dual_arm_cleanup_pencils`: mean=46.5000, median=46.5000, std=0.0000 + +### Direction B: Round Reuse + +- `latent_init_dist_to_prev_round`: mean=242.4520, median=230.2455, p90=269.5033, p95=273.0074 +- `action_drift_vs_prev_round`: mean=0.6782, median=0.6411, p90=0.9664, p95=0.9760 +- `round_total_time_s`: mean=146.9209, median=150.5785, p90=151.7969, p95=152.0286 +- `policy_pass_total_time_s`: mean=70.4979, median=73.9005, p90=74.3969, p95=74.5318 +- `world_model_pass_total_time_s`: mean=73.7692, median=74.0447, p90=74.5227, p95=74.5574 + diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/analysis/budget_distribution.png b/unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/analysis/budget_distribution.png new file mode 100644 index 0000000000000000000000000000000000000000..876776c77ac5025f460f4c751c963dd79040ea8b GIT binary patch literal 89494 zcmeEuhhLS~wk?TCj6HTy5u*r#6s1bnpukoEDJmV6-j&`qm}o>%0XGQ3rl|BTUAhqw zkS1NaN@r7~OZAO~=AL`+dw;_7cg{)Vz~=kbnrqH6#~5?nJ+COYVeRg0RACncUs*})!N9;@rsQhlfo6dYZlga7N%GCI~dy7np#^4 z@E$wLdz^c}iJjdwTQNR9%m4ZgUTYg;zJIjrtMMsouE}fIGBNFYMgIGP)jNABrXQG? 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threshold: None +- Stability window: 3 +- Mid-step window: 15-35 + +## Dataset Overview + +- Unique samples: 1 +- Step rows: 800 +- Sample rows: 2 +- Round rows: 8 +- Scenes: unitree_z1_dual_arm_cleanup_pencils +- 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=116.0821, median=136.9002, p90=164.2210, p95=167.5451 + +### 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=46.5000, median=46.5000, p90=46.5000, p95=46.5000 +- `share_action_first_stable_before_latent`: nan +- `share_action_95pct_before_latent`: nan + +### Direction D: Cross-Step Similarity + +- `latent_delta_mid_steps`: mean=0.3540, median=0.3499, p90=0.4173, p95=0.4278 +- `action_delta_mid_steps`: mean=0.0290, median=0.0279, p90=0.0416, p95=0.0440 +- `state_delta_mid_steps`: mean=0.0287, median=0.0276, p90=0.0415, p95=0.0440 + +### Direction A: Budget Heterogeneity + +- `oracle_budget_action`: mean=46.5000, median=46.5000, p90=46.5000, p95=46.5000 +- `oracle_budget_state`: mean=47.3750, median=47.3750, p90=47.3750, p95=47.3750 +- `oracle_budget_action_by_scene`: + - `unitree_z1_dual_arm_cleanup_pencils`: mean=46.5000, median=46.5000, std=0.0000 + +### Direction B: Round Reuse + +- `latent_init_dist_to_prev_round`: mean=252.5237, median=253.4787, p90=261.2025, p95=264.1173 +- `action_drift_vs_prev_round`: mean=0.7196, median=0.7119, p90=0.9656, p95=1.0833 +- `round_total_time_s`: mean=150.3981, median=150.4490, p90=151.9224, p95=152.0112 +- `policy_pass_total_time_s`: mean=73.8629, median=74.0025, p90=74.5856, p95=74.7925 +- `world_model_pass_total_time_s`: mean=73.6713, median=73.7090, p90=74.1184, p95=74.2374 + 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+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,49,1.4667401313781738,0.14664743840694427,0.09316528588533401,0.11380989849567413,0.9932671785354614,0.9875265955924988,10.879648208618164 +unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,50,1.3130605220794678,0.12707680463790894,0.1162441074848175,0.15750257670879364,0.9999999403953552,1.0000001192092896,0.0 diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh index 8fe141f..ecf75db 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh @@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_cleanup_pencils" --n_iter 8 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/analysis/analysis_report.md b/unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/analysis/analysis_report.md new file mode 100644 index 0000000..f37aab4 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/output/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: 800 +- Sample rows: 2 +- Round rows: 8 +- Scenes: unitree_z1_dual_arm_cleanup_pencils +- 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=114.6183, median=135.5744, p90=160.0172, p95=166.5222 + +### 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=46.5000, median=46.5000, p90=46.5000, p95=46.5000 +- `share_action_first_stable_before_latent`: nan +- `share_action_95pct_before_latent`: nan + +### Direction D: Cross-Step Similarity + +- `latent_delta_mid_steps`: mean=0.3542, median=0.3500, p90=0.4173, p95=0.4280 +- `action_delta_mid_steps`: mean=0.0291, median=0.0283, p90=0.0414, p95=0.0432 +- `state_delta_mid_steps`: mean=0.0286, median=0.0275, p90=0.0406, p95=0.0427 + +### Direction A: Budget Heterogeneity + +- `oracle_budget_action`: mean=46.5000, median=46.5000, p90=46.5000, p95=46.5000 +- `oracle_budget_state`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000 +- `oracle_budget_action_by_scene`: + - `unitree_z1_dual_arm_cleanup_pencils`: mean=46.5000, median=46.5000, std=0.0000 + +### Direction B: Round Reuse + +- `latent_init_dist_to_prev_round`: mean=242.5424, median=236.8695, p90=270.3207, p95=274.0847 +- `action_drift_vs_prev_round`: mean=0.6918, median=0.6892, p90=0.9659, p95=0.9869 +- `round_total_time_s`: mean=151.1099, median=151.1618, p90=151.8859, p95=151.9580 +- `policy_pass_total_time_s`: mean=74.3568, median=74.5224, p90=74.8165, p95=74.8505 +- `world_model_pass_total_time_s`: mean=74.3846, median=74.3322, p90=74.7877, p95=74.7988 + diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/analysis/budget_distribution.png b/unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/analysis/budget_distribution.png new file mode 100644 index 0000000000000000000000000000000000000000..876776c77ac5025f460f4c751c963dd79040ea8b GIT binary patch literal 89494 zcmeEuhhLS~wk?TCj6HTy5u*r#6s1bnpukoEDJmV6-j&`qm}o>%0XGQ3rl|BTUAhqw 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