diff --git a/scripts/evaluation/world_model_interaction.py b/scripts/evaluation/world_model_interaction.py index c144e4b..2994dc9 100644 --- a/scripts/evaluation/world_model_interaction.py +++ b/scripts/evaluation/world_model_interaction.py @@ -239,6 +239,8 @@ class InteractionAnalysisLogger: 'round_id', 'step', 'step_time_s', + 'backbone_reused_blocks_count', + 'backbone_reuse_hit_blocks', 'latent_delta', 'action_delta', 'state_delta', @@ -388,6 +390,10 @@ class InteractionAnalysisLogger: 'round_id': round_id, 'step': record['step_index'], 'step_time_s': float(record['step_time_s']), + 'backbone_reused_blocks_count': int( + record.get('backbone_reused_blocks_count', 0)), + 'backbone_reuse_hit_blocks': + record.get('backbone_reuse_hit_blocks', ''), 'latent_delta': latent_delta, 'action_delta': action_delta, 'state_delta': state_delta, @@ -928,7 +934,7 @@ def image_guided_synthesis_sim_mode( return_debug_info (bool): Whether to return per-step traces for analysis logging. **kwargs: Additional arguments passed to the DDIM sampler, including sparse head controls such as `head_schedule`, `head_log_steps`, - and `head_skip_mode`. + and `head_skip_mode`, plus optional decoder block reuse settings. Returns: batch_variants (torch.Tensor | None): Predicted pixel-space video frames [B, C, T, H, W]. @@ -1051,16 +1057,27 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: head_schedule = args.head_schedule_steps if args.head_schedule_steps else None head_log_steps = args.head_log_steps if args.head_log_steps else None head_skip_mode = args.head_skip_mode + backbone_reuse_blocks = (args.backbone_reuse_blocks + if args.backbone_reuse_blocks else None) + backbone_reuse_schedule_steps = ( + args.backbone_reuse_schedule_steps + if args.backbone_reuse_schedule_steps else None) + backbone_reuse_force_compute_steps = ( + args.backbone_reuse_force_compute_steps + if args.backbone_reuse_force_compute_steps else None) + backbone_reuse_enabled = ( + args.backbone_reuse_mode == "reuse_output" + and backbone_reuse_blocks is not None) if args.analysis_log_metrics: analysis_logger = InteractionAnalysisLogger( output_dir=inference_dir, psnr_lookup=load_psnr_lookup(args.analysis_psnr_path), ) if args.analysis_profile_backbone_blocks: - if head_schedule is not None: + if head_schedule is not None or backbone_reuse_enabled: raise ValueError( "Backbone block profiling expects dense DDIM runs. " - "Do not pass --head_schedule_steps.") + "Do not pass sparse head or backbone reuse flags.") backbone_profiler = BackboneBlockProfiler(output_dir=inference_dir) case_id = get_case_id(args.prompt_dir) @@ -1233,7 +1250,7 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: backbone_profiler.finish_pass() need_policy_reference = args.analysis_log_metrics and ( args.analysis_reference_steps != args.ddim_steps - or head_schedule is not None) + or head_schedule is not None or backbone_reuse_enabled) if need_policy_reference: _, _, _, policy_reference_debug = image_guided_synthesis_sim_mode( model, @@ -1282,6 +1299,13 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: head_schedule=head_schedule, head_log_steps=head_log_steps, head_skip_mode=head_skip_mode, + backbone_reuse_blocks=backbone_reuse_blocks, + backbone_reuse_start_step=args.backbone_reuse_start_step, + backbone_reuse_schedule_steps= + backbone_reuse_schedule_steps, + backbone_reuse_force_compute_steps= + backbone_reuse_force_compute_steps, + backbone_reuse_mode=args.backbone_reuse_mode, backbone_block_profiler=backbone_profiler) if backbone_profiler is not None: backbone_profiler.finish_pass() @@ -1364,7 +1388,7 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: backbone_profiler.finish_pass() need_world_reference = args.analysis_log_metrics and ( args.analysis_reference_steps != args.ddim_steps - or head_schedule is not None) + or head_schedule is not None or backbone_reuse_enabled) if need_world_reference: _, _, _, world_reference_debug = image_guided_synthesis_sim_mode( model, @@ -1413,6 +1437,13 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: head_schedule=head_schedule, head_log_steps=head_log_steps, head_skip_mode=head_skip_mode, + backbone_reuse_blocks=backbone_reuse_blocks, + backbone_reuse_start_step=args.backbone_reuse_start_step, + backbone_reuse_schedule_steps= + backbone_reuse_schedule_steps, + backbone_reuse_force_compute_steps= + backbone_reuse_force_compute_steps, + backbone_reuse_mode=args.backbone_reuse_mode, backbone_block_profiler=backbone_profiler) if backbone_profiler is not None: backbone_profiler.finish_pass() @@ -1659,6 +1690,35 @@ def get_parser(): default="reuse_prediction", choices=["reuse_prediction", "freeze_state"], help="Behavior on non-checkpoint steps: reuse cached head predictions while still running scheduler.step, or freeze action/state entirely.") + parser.add_argument( + "--backbone_reuse_blocks", + type=str, + nargs='*', + default=None, + help="Decoder block names to reuse on non-checkpoint DDIM steps, e.g. output_5 output_4 output_6.") + parser.add_argument( + "--backbone_reuse_start_step", + type=int, + default=None, + help="1-based DDIM step index after which decoder block reuse becomes eligible.") + parser.add_argument( + "--backbone_reuse_schedule_steps", + type=int, + nargs='*', + default=None, + help="1-based DDIM step indices where selected decoder blocks must be recomputed.") + parser.add_argument( + "--backbone_reuse_force_compute_steps", + type=int, + nargs='*', + default=None, + help="1-based DDIM step indices that always recompute selected decoder blocks, even if omitted from the reuse schedule.") + parser.add_argument( + "--backbone_reuse_mode", + type=str, + default="disabled", + choices=["disabled", "reuse_output"], + help="Decoder block reuse mode. 'reuse_output' reuses cached output block tensors on non-checkpoint steps.") return parser diff --git a/scripts/run_backbone_reuse_worst_cases.sh b/scripts/run_backbone_reuse_worst_cases.sh new file mode 100644 index 0000000..f66d348 --- /dev/null +++ b/scripts/run_backbone_reuse_worst_cases.sh @@ -0,0 +1,20 @@ +#!/usr/bin/env bash + +set -euo pipefail + +repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" +cd "${repo_root}" + +case_scripts=( + "unitree_z1_dual_arm_stackbox/case1/run_world_model_backbone_reuse_output546.sh" + "unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_reuse_output546.sh" + "unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_backbone_reuse_output546.sh" + "unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_reuse_output546.sh" +) + +for case_script in "${case_scripts[@]}"; do + echo "============================================================" + echo "Running ${case_script}" + echo "============================================================" + bash "${repo_root}/${case_script}" +done diff --git a/src/unifolm_wma/models/samplers/ddim.py b/src/unifolm_wma/models/samplers/ddim.py index 9be4c39..23ab20e 100644 --- a/src/unifolm_wma/models/samplers/ddim.py +++ b/src/unifolm_wma/models/samplers/ddim.py @@ -113,6 +113,11 @@ class DDIMSampler(object): head_schedule=None, head_log_steps=None, head_skip_mode="reuse_prediction", + backbone_reuse_blocks=None, + backbone_reuse_start_step=None, + backbone_reuse_schedule_steps=None, + backbone_reuse_force_compute_steps=None, + backbone_reuse_mode="disabled", **kwargs): # Check condition bs @@ -174,6 +179,11 @@ class DDIMSampler(object): head_schedule=head_schedule, head_log_steps=head_log_steps, head_skip_mode=head_skip_mode, + backbone_reuse_blocks=backbone_reuse_blocks, + backbone_reuse_start_step=backbone_reuse_start_step, + backbone_reuse_schedule_steps=backbone_reuse_schedule_steps, + backbone_reuse_force_compute_steps=backbone_reuse_force_compute_steps, + backbone_reuse_mode=backbone_reuse_mode, **kwargs) return samples, actions, states, intermediates @@ -206,6 +216,11 @@ class DDIMSampler(object): head_schedule=None, head_log_steps=None, head_skip_mode="reuse_prediction", + backbone_reuse_blocks=None, + backbone_reuse_start_step=None, + backbone_reuse_schedule_steps=None, + backbone_reuse_force_compute_steps=None, + backbone_reuse_mode="disabled", **kwargs): device = self.model.betas.device dp_ddim_scheduler_action = self.model.dp_noise_scheduler_action @@ -265,6 +280,25 @@ class DDIMSampler(object): } if head_log_steps_set is not None: intermediates['head_sparse_logs'] = {} + backbone_reuse_blocks_set = None if backbone_reuse_blocks is None else { + str(block_name) for block_name in backbone_reuse_blocks + } + backbone_reuse_schedule_steps_set = ( + None if backbone_reuse_schedule_steps is None else { + int(step_index) for step_index in backbone_reuse_schedule_steps + }) + backbone_reuse_force_compute_steps_set = ( + None if backbone_reuse_force_compute_steps is None else { + int(step_index) + for step_index in backbone_reuse_force_compute_steps + }) + backbone_reuse_active = (backbone_reuse_mode == "reuse_output" + and backbone_reuse_blocks_set) + backbone_reuse_cache = { + 'single': {}, + 'cond': {}, + 'uncond': {}, + } 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[ @@ -282,6 +316,10 @@ class DDIMSampler(object): raise ValueError( f"Unsupported head_skip_mode={head_skip_mode!r}. " "Expected 'reuse_prediction' or 'freeze_state'.") + if backbone_reuse_mode not in {"disabled", "reuse_output"}: + raise ValueError( + f"Unsupported backbone_reuse_mode={backbone_reuse_mode!r}. " + "Expected 'disabled' or 'reuse_output'.") x_action_frozen = action.detach().clone() x_state_frozen = state.detach().clone() action_pred_cache = None @@ -310,6 +348,13 @@ class DDIMSampler(object): run_head = scheduled_head or action_pred_cache is None or state_pred_cache is None else: run_head = scheduled_head + backbone_reuse_step_stats: dict[str, set[str]] | None = None + if backbone_reuse_active: + backbone_reuse_step_stats = { + 'single': set(), + 'cond': set(), + 'uncond': set(), + } outs = self.p_sample_ddim( img, @@ -332,6 +377,14 @@ class DDIMSampler(object): guidance_rescale=guidance_rescale, backbone_step_index=i + 1, run_head=run_head, + backbone_reuse_blocks=backbone_reuse_blocks_set, + backbone_reuse_start_step=backbone_reuse_start_step, + backbone_reuse_schedule_steps=backbone_reuse_schedule_steps_set, + backbone_reuse_force_compute_steps= + backbone_reuse_force_compute_steps_set, + backbone_reuse_mode=backbone_reuse_mode, + backbone_reuse_cache=backbone_reuse_cache, + backbone_reuse_step_stats=backbone_reuse_step_stats, **kwargs) img, pred_x0, model_output_action, model_output_state = outs @@ -380,6 +433,15 @@ class DDIMSampler(object): if callback: callback(i) if img_callback: img_callback(pred_x0, i) + reused_blocks = [] + if backbone_reuse_step_stats is not None: + if unconditional_conditioning is None or unconditional_guidance_scale == 1.: + reused_blocks = sorted(backbone_reuse_step_stats['single']) + else: + reused_blocks = sorted( + backbone_reuse_step_stats['cond'] + | backbone_reuse_step_stats['uncond']) + if index % log_every_t == 0 or index == total_steps - 1: intermediates['x_inter'].append(img) intermediates['pred_x0'].append(pred_x0) @@ -405,6 +467,8 @@ class DDIMSampler(object): 'action': action.detach().cpu(), 'state': state.detach().cpu(), 'step_time_s': step_time_s, + 'backbone_reused_blocks_count': len(reused_blocks), + 'backbone_reuse_hit_blocks': ",".join(reused_blocks), }) return img, action, state, intermediates @@ -441,16 +505,34 @@ class DDIMSampler(object): if unconditional_conditioning is None or unconditional_guidance_scale == 1.: model_output, model_output_action, model_output_state = self.model.apply_model( - x, x_action, x_state, t, c, run_head=run_head, + x, + x_action, + x_state, + t, + c, + run_head=run_head, + backbone_reuse_branch="single", **kwargs) # unet denoiser else: # do_classifier_free_guidance if isinstance(c, torch.Tensor) or isinstance(c, dict): e_t_cond, e_t_cond_action, e_t_cond_state = self.model.apply_model( - x, x_action, x_state, t, c, run_head=run_head, **kwargs) - e_t_uncond, e_t_uncond_action, e_t_uncond_state = self.model.apply_model( - x, x_action, x_state, t, unconditional_conditioning, + x, + x_action, + x_state, + t, + c, run_head=run_head, + backbone_reuse_branch="cond", + **kwargs) + e_t_uncond, e_t_uncond_action, e_t_uncond_state = self.model.apply_model( + x, + x_action, + x_state, + t, + unconditional_conditioning, + run_head=run_head, + backbone_reuse_branch="uncond", **kwargs) else: raise NotImplementedError diff --git a/src/unifolm_wma/modules/networks/wma_model.py b/src/unifolm_wma/modules/networks/wma_model.py index b9befb7..79be322 100644 --- a/src/unifolm_wma/modules/networks/wma_model.py +++ b/src/unifolm_wma/modules/networks/wma_model.py @@ -719,6 +719,18 @@ class WMAModel(nn.Module): run_head = kwargs.pop("run_head", True) backbone_block_profiler = kwargs.pop("backbone_block_profiler", None) backbone_step_index = kwargs.pop("backbone_step_index", None) + backbone_reuse_blocks = kwargs.pop("backbone_reuse_blocks", None) + backbone_reuse_start_step = kwargs.pop("backbone_reuse_start_step", + None) + backbone_reuse_schedule_steps = kwargs.pop( + "backbone_reuse_schedule_steps", None) + backbone_reuse_force_compute_steps = kwargs.pop( + "backbone_reuse_force_compute_steps", None) + backbone_reuse_mode = kwargs.pop("backbone_reuse_mode", "disabled") + backbone_reuse_cache = kwargs.pop("backbone_reuse_cache", None) + backbone_reuse_step_stats = kwargs.pop("backbone_reuse_step_stats", + None) + backbone_reuse_branch = kwargs.pop("backbone_reuse_branch", "single") t_emb = timestep_embedding(timesteps, self.model_channels, repeat_only=False).type(x.dtype) @@ -816,6 +828,32 @@ class WMAModel(nn.Module): ) return out + reuse_cache_branch: Dict[str, Tensor] | None = None + if backbone_reuse_cache is not None: + reuse_cache_branch = backbone_reuse_cache.setdefault( + backbone_reuse_branch, {}) + + def should_reuse_output_block(block_name: str) -> bool: + if backbone_reuse_mode != "reuse_output": + return False + if backbone_step_index is None or backbone_reuse_start_step is None: + return False + if backbone_reuse_blocks is None or block_name not in backbone_reuse_blocks: + return False + if int(backbone_step_index) < int(backbone_reuse_start_step): + return False + if (backbone_reuse_force_compute_steps is not None + and int(backbone_step_index) + in backbone_reuse_force_compute_steps): + return False + if (backbone_reuse_schedule_steps is not None + and int(backbone_step_index) + in backbone_reuse_schedule_steps): + return False + if reuse_cache_branch is None: + return False + return block_name in reuse_cache_branch + h = x.type(self.dtype) adapter_idx = 0 hs = [] @@ -861,6 +899,7 @@ class WMAModel(nn.Module): hs_out = [] for id, module in enumerate(self.output_blocks): skip_h = hs.pop() + block_name = f"output_{id}" def run_output_block() -> Tensor: return module(torch.cat([h, skip_h], dim=1), @@ -868,12 +907,24 @@ class WMAModel(nn.Module): context=context, batch_size=b) - h = run_block_with_profile( - block_name=f"output_{id}", - block_stage="output_blocks", - block_index=id, - fn=run_output_block, - ) + if should_reuse_output_block(block_name): + h = reuse_cache_branch[block_name].to(device=h.device, + dtype=h.dtype) + if backbone_reuse_step_stats is not None: + backbone_reuse_step_stats.setdefault( + backbone_reuse_branch, set()).add(block_name) + else: + h = run_block_with_profile( + block_name=block_name, + block_stage="output_blocks", + block_index=id, + fn=run_output_block, + ) + if (reuse_cache_branch is not None and backbone_reuse_mode == + "reuse_output" + and backbone_reuse_blocks is not None + and block_name in backbone_reuse_blocks): + reuse_cache_branch[block_name] = h.detach().clone() if isinstance(module[-1], Upsample): hs_a.append( rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t)) diff --git a/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/round_summary.csv new file mode 100644 index 0000000..633b8bb --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/round_summary.csv @@ -0,0 +1,8 @@ +sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50 +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,0,34.60245490074158,34.72423195838928,138.95395731925964,,, +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,1,34.59635591506958,34.85775184631348,139.0369472503662,211.345458984375,0.4255753755569458, +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,2,34.56254506111145,34.743552446365356,138.9944486618042,211.6240234375,0.7389801144599915, +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,3,34.85900378227234,34.58891749382019,139.22013521194458,218.88330078125,0.4218013286590576, +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,4,34.56788682937622,34.80677080154419,139.0237329006195,182.1666259765625,0.2393476366996765, +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,5,34.56533694267273,34.626118183135986,138.74371457099915,206.19061279296875,0.33043384552001953, +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,6,34.5905020236969,34.810385942459106,138.9610471725464,159.6436309814453,0.36647987365722656, diff --git a/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/sample_summary.csv new file mode 100644 index 0000000..5390b55 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/sample_summary.csv @@ -0,0 +1,3 @@ +sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50 +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,34.620583636420115,,,,46.8,48.75,47.42857142857143,48.0,,198.30894215901694,0.42043636242548627,138.99056901250566,34.620583636420115,34.73681838171823, +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,34.73681838171823,,,,47.0,48.75,47.285714285714285,47.714285714285715,,198.30894215901694,0.42043636242548627,138.99056901250566,34.620583636420115,34.73681838171823, diff --git a/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/stepwise_log.csv new file mode 100644 index 0000000..0a69941 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/output/backbone_reuse_output546_tail_sparse_8/inference/stepwise_log.csv @@ -0,0 +1,701 @@ +sample_id,scene,pass_type,round_id,step,step_time_s,backbone_reused_blocks_count,backbone_reuse_hit_blocks,latent_delta,action_delta,state_delta,action_cosine_vs_full50,state_cosine_vs_full50,latent_l2_vs_full50 +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,1,0.6848506927490234,0,,1.4160528182983398,0.07500046491622925,0.07889977097511292,0.11988209933042526,0.06478386372327805,167.1123046875 +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,2,0.6846530437469482,0,,1.0183463096618652,0.0540202371776104,0.046346213668584824,0.1111149936914444,0.0605180561542511,167.2060546875 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+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,49,0.6931917667388916,0,,0.14233368635177612,0.09713757783174515,0.10353905707597733,0.9315228462219238,0.9815149307250977,131.63784790039062 +unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,50,0.6931014060974121,0,,0.12212962657213211,0.12339522689580917,0.139326274394989,0.9334924221038818,0.9892199039459229,132.0954132080078 diff --git a/unitree_z1_dual_arm_stackbox/case1/run_world_model_backbone_reuse_output546.sh b/unitree_z1_dual_arm_stackbox/case1/run_world_model_backbone_reuse_output546.sh new file mode 100644 index 0000000..4ec8138 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/run_world_model_backbone_reuse_output546.sh @@ -0,0 +1,31 @@ +res_dir="unitree_z1_dual_arm_stackbox/case1" +dataset="unitree_z1_dual_arm_stackbox" + +{ + time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output/backbone_reuse_output546_tail_sparse_8" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 7 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 \ + --backbone_reuse_mode reuse_output \ + --backbone_reuse_blocks output_5 output_4 output_6 \ + --backbone_reuse_start_step 35 \ + --backbone_reuse_schedule_steps 35 37 39 41 43 45 47 49 \ + --backbone_reuse_force_compute_steps 50 +} 2>&1 | tee "${res_dir}/output_backbone_reuse_output546_tail_sparse_8.log" diff --git a/unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_reuse_output546.sh b/unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_reuse_output546.sh new file mode 100644 index 0000000..b5050d0 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_reuse_output546.sh @@ -0,0 +1,31 @@ +res_dir="unitree_z1_dual_arm_stackbox/case3" +dataset="unitree_z1_dual_arm_stackbox" + +{ + time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output/backbone_reuse_output546_tail_sparse_8" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 7 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 \ + --backbone_reuse_mode reuse_output \ + --backbone_reuse_blocks output_5 output_4 output_6 \ + --backbone_reuse_start_step 35 \ + --backbone_reuse_schedule_steps 35 37 39 41 43 45 47 49 \ + --backbone_reuse_force_compute_steps 50 +} 2>&1 | tee "${res_dir}/output_backbone_reuse_output546_tail_sparse_8.log" diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_backbone_reuse_output546.sh b/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_backbone_reuse_output546.sh new file mode 100644 index 0000000..6785fcd --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_backbone_reuse_output546.sh @@ -0,0 +1,31 @@ +res_dir="unitree_z1_dual_arm_stackbox_v2/case2" +dataset="unitree_z1_dual_arm_stackbox_v2" + +{ + time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output/backbone_reuse_output546_tail_sparse_8" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_dual_arm_stackbox_v2/case2/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 11 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 \ + --backbone_reuse_mode reuse_output \ + --backbone_reuse_blocks output_5 output_4 output_6 \ + --backbone_reuse_start_step 35 \ + --backbone_reuse_schedule_steps 35 37 39 41 43 45 47 49 \ + --backbone_reuse_force_compute_steps 50 +} 2>&1 | tee "${res_dir}/output_backbone_reuse_output546_tail_sparse_8.log" diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_reuse_output546.sh b/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_reuse_output546.sh new file mode 100644 index 0000000..9ce33e6 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_reuse_output546.sh @@ -0,0 +1,31 @@ +res_dir="unitree_z1_dual_arm_stackbox_v2/case3" +dataset="unitree_z1_dual_arm_stackbox_v2" + +{ + time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output/backbone_reuse_output546_tail_sparse_8" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_dual_arm_stackbox_v2/case3/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 11 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 \ + --backbone_reuse_mode reuse_output \ + --backbone_reuse_blocks output_5 output_4 output_6 \ + --backbone_reuse_start_step 35 \ + --backbone_reuse_schedule_steps 35 37 39 41 43 45 47 49 \ + --backbone_reuse_force_compute_steps 50 +} 2>&1 | tee "${res_dir}/output_backbone_reuse_output546_tail_sparse_8.log" diff --git a/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/round_summary.csv b/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/round_summary.csv new file mode 100644 index 0000000..a23eb46 --- /dev/null +++ b/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/round_summary.csv @@ -0,0 +1,13 @@ +sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50 +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,0,34.61543416976929,35.12265110015869,140.12255382537842,,, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,1,34.92478108406067,34.903425455093384,140.50326132774353,238.71011352539062,0.1955518126487732, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,2,34.93473482131958,34.86671566963196,140.23696851730347,193.00128173828125,0.22892463207244873, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,3,34.8467276096344,34.840471267700195,139.95978212356567,203.62391662597656,0.2653714418411255, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,4,34.84385108947754,34.884554386138916,140.10617589950562,175.98419189453125,0.2676825523376465, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,5,34.84644269943237,34.84303593635559,140.06873226165771,177.170654296875,0.20933383703231812, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,6,34.842782735824585,34.959144592285156,140.20916867256165,158.33082580566406,0.3230288028717041, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,7,34.8296320438385,35.06740975379944,140.3599042892456,186.1202392578125,0.29313647747039795, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,8,34.718727111816406,34.513421297073364,139.18176984786987,176.69534301757812,0.2630300521850586, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,9,34.467792987823486,34.49754571914673,138.48231291770935,207.1377716064453,0.27973079681396484, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,10,34.49251866340637,34.52156186103821,138.64975929260254,167.4407501220703,0.17017686367034912, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,11,34.500508069992065,34.50804042816162,138.59093475341797,171.18487548828125,0.16435915231704712, diff --git a/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/sample_summary.csv b/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/sample_summary.csv new file mode 100644 index 0000000..dffda99 --- /dev/null +++ b/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/sample_summary.csv @@ -0,0 +1,3 @@ +sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50 +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,34.738661090532936,,,,46.25,48.0,47.666666666666664,48.333333333333336,,186.85454212535512,0.2418478564782576,139.70594364404678,34.738661090532936,34.79399812221527, +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,34.79399812221527,,,,46.333333333333336,48.083333333333336,47.75,48.25,,186.85454212535512,0.2418478564782576,139.70594364404678,34.738661090532936,34.79399812221527, diff --git a/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/stepwise_log.csv b/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/stepwise_log.csv new file mode 100644 index 0000000..0c6f844 --- /dev/null +++ b/unitree_z1_stackbox/case3/output/backbone_reuse_output546_tail_sparse_8/inference/stepwise_log.csv @@ -0,0 +1,1201 @@ +sample_id,scene,pass_type,round_id,step,step_time_s,backbone_reused_blocks_count,backbone_reuse_hit_blocks,latent_delta,action_delta,state_delta,action_cosine_vs_full50,state_cosine_vs_full50,latent_l2_vs_full50 +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,0,1,0.686776876449585,0,,1.4160562753677368,0.07239849120378494,0.07480449229478836,0.15422599017620087,0.15161719918251038,149.51309204101562 +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,0,2,0.686152458190918,0,,1.01828134059906,0.05312911421060562,0.046084824949502945,0.14483392238616943,0.15349926054477692,149.3838653564453 +unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,0,3,0.6863679885864258,0,,0.8496285676956177,0.039745111018419266,0.029612591490149498,0.14216065406799316,0.15927962958812714,149.58201599121094 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+res_dir="unitree_z1_stackbox/case3" +dataset="unitree_z1_stackbox" + +{ + time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output/backbone_reuse_output546_tail_sparse_8" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_stackbox/case3/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 12 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae \ + --analysis_log_metrics \ + --analysis_reference_steps 50 \ + --backbone_reuse_mode reuse_output \ + --backbone_reuse_blocks output_5 output_4 output_6 \ + --backbone_reuse_start_step 35 \ + --backbone_reuse_schedule_steps 35 37 39 41 43 45 47 49 \ + --backbone_reuse_force_compute_steps 50 +} 2>&1 | tee "${res_dir}/output_backbone_reuse_output546_tail_sparse_8.log"