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+ # LingBot 长视频 480p 推理实验报告
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+
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+ ## 实验设置
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+
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+ - 模型：`models/lingbot-world-base-cam`，fast 权重位于 `lingbot_world_fast`。
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+ - 分辨率参数：`480*832`；输出保持输入图像比例。
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+ - 帧率：16 FPS。
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+ - 时长与帧数：10 秒 161 帧，20 秒 321 帧，30 秒 481 帧，60 秒 961 帧。
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+ - GPU：单个 Slurm 节点，`torchrun --nproc_per_node=4`。
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+ - 普通 inference：`generate.py` + `--allow_act2cam` + `--action_string`，采样步数 `20`。
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+ - Fast inference：`generate_fast.py` + 由相同 WASD/IJKL 控制离线生成的 `poses.npy`，`chunk_size=1`。
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+
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+ ## 实验思路
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+
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+ 本实验固定使用 `examples/05` 的输入图像和 prompt，以减少场景差异对控制验证的干扰；每个时长设计 8 组不同的 WASD/IJKL 控制信号，并使用不同 seed 生成至少 8 个不同视频。普通 inference 直接从 `action_string` 生成轨迹；fast inference 不支持 action string，因此先把同一批控制信号转换成相机位姿，再作为 `action_path` 输入。两个路径都会在输出视频上叠加 WASD/IJKL 控制 UI，便于人工核对模型响应是否符合控制方向。
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+
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+ ## 控制信号设计
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+
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+ | 变体 | 控制目的 |
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+ | --- | --- |
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+ | `v00_forward_sweep` | 持续前进，中段向左观察，末段向右回正。 |
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+ | `v01_forward_right_arc` | 持续前进并向右转弯，之后短暂停顿再继续前进。 |
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+ | `v02_left_strafe_scan` | 向左平移，视角向右扫描，再前进稳定画面。 |
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+ | `v03_right_strafe_scan` | 向右平移，视角向左扫描，再前进稳定画面。 |
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+ | `v04_pitch_up_forward` | 前进同时抬头观察高处，随后回到平视继续前进。 |
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+ | `v05_reverse_pitch_down` | 短暂后退并低头观察，然后侧移并恢复前进。 |
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+ | `v06_zigzag_combo` | 前进蛇形路径，交替左转和右转，用于检查横向控制。 |
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+ | `v07_stop_turn_resume` | 停顿原地转向，再恢复前进并轻微下俯。 |
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+
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+ ## 汇总指标
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+
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+ | 时长 | 方法 | 总数 | 成功 | OOM | 跳过 | 失败 | 平均耗时 | 峰值单卡显存 | 峰值总显存 |
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+ | ---: | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
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+ | 10s | `inference` | 8 | 8 | 0 | 0 | 0 | 20m 04.6s | 50.1 GiB | 198.9 GiB |
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+ | 10s | `fast_inference` | 8 | 8 | 0 | 0 | 0 | 6m 55.3s | 43.4 GiB | 148.5 GiB |
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+ | 20s | `inference` | 8 | 8 | 0 | 0 | 0 | 31m 04.1s | 66.1 GiB | 261.6 GiB |
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+ | 20s | `fast_inference` | 8 | 8 | 0 | 0 | 0 | 8m 26.5s | 78.9 GiB | 224.5 GiB |
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+ | 30s | `inference` | 8 | 8 | 0 | 0 | 0 | 42m 09.0s | 79.3 GiB | 316.3 GiB |
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+ | 30s | `fast_inference` | 8 | 8 | 0 | 0 | 0 | 10m 35.3s | 79.3 GiB | 261.2 GiB |
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+ | 60s | `inference` | 8 | 0 | 0 | 8 | 0 | n/a | n/a | n/a |
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+ | 60s | `fast_inference` | 8 | 0 | 1 | 7 | 0 | n/a | n/a | n/a |
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+
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+ ## 单视频结果
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+
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+ | 方法 | 时长 | Case | 状态 | 耗时 | 峰值单卡显存 | 输出 |
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+ | --- | ---: | --- | --- | ---: | ---: | --- |
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+ | `fast_inference` | 10s | `10s_v00_forward_sweep_seed5100` | ok | 10m 22.8s | 43.4 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/10s/fast_inference_10s_v00_forward_sweep_seed5100.mp4` |
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+ | `fast_inference` | 10s | `10s_v01_forward_right_arc_seed5101` | ok | 13m 10.6s | 43.4 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/10s/fast_inference_10s_v01_forward_right_arc_seed5101.mp4` |
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+ | `fast_inference` | 10s | `10s_v02_left_strafe_scan_seed5102` | ok | 7m 47.9s | 43.4 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/10s/fast_inference_10s_v02_left_strafe_scan_seed5102.mp4` |
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+ | `fast_inference` | 10s | `10s_v03_right_strafe_scan_seed5103` | ok | 3m 21.0s | 43.2 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/10s/fast_inference_10s_v03_right_strafe_scan_seed5103.mp4` |
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+ | `fast_inference` | 10s | `10s_v04_pitch_up_forward_seed5104` | ok | 3m 21.5s | 42.7 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/10s/fast_inference_10s_v04_pitch_up_forward_seed5104.mp4` |
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+ | `fast_inference` | 10s | `10s_v05_reverse_pitch_down_seed5105` | ok | 9m 07.6s | 42.8 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/10s/fast_inference_10s_v05_reverse_pitch_down_seed5105.mp4` |
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+ | `fast_inference` | 10s | `10s_v06_zigzag_combo_seed5106` | ok | 3m 25.1s | 42.5 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/10s/fast_inference_10s_v06_zigzag_combo_seed5106.mp4` |
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+ | `fast_inference` | 10s | `10s_v07_stop_turn_resume_seed5107` | ok | 4m 45.8s | 43.4 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/10s/fast_inference_10s_v07_stop_turn_resume_seed5107.mp4` |
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+ | `fast_inference` | 20s | `20s_v00_forward_sweep_seed5200` | ok | 12m 08.0s | 78.9 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/20s/fast_inference_20s_v00_forward_sweep_seed5200.mp4` |
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+ | `fast_inference` | 20s | `20s_v01_forward_right_arc_seed5201` | ok | 5m 27.8s | 77.6 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/20s/fast_inference_20s_v01_forward_right_arc_seed5201.mp4` |
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+ | `fast_inference` | 20s | `20s_v02_left_strafe_scan_seed5202` | ok | 5m 32.5s | 78.9 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/20s/fast_inference_20s_v02_left_strafe_scan_seed5202.mp4` |
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+ | `fast_inference` | 20s | `20s_v03_right_strafe_scan_seed5203` | ok | 16m 03.6s | 78.3 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/20s/fast_inference_20s_v03_right_strafe_scan_seed5203.mp4` |
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+ | `fast_inference` | 20s | `20s_v04_pitch_up_forward_seed5204` | ok | 5m 24.8s | 78.7 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/20s/fast_inference_20s_v04_pitch_up_forward_seed5204.mp4` |
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+ | `fast_inference` | 20s | `20s_v05_reverse_pitch_down_seed5205` | ok | 5m 21.4s | 77.6 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/20s/fast_inference_20s_v05_reverse_pitch_down_seed5205.mp4` |
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+ | `fast_inference` | 20s | `20s_v06_zigzag_combo_seed5206` | ok | 5m 23.1s | 78.7 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/20s/fast_inference_20s_v06_zigzag_combo_seed5206.mp4` |
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+ | `fast_inference` | 20s | `20s_v07_stop_turn_resume_seed5207` | ok | 12m 11.1s | 78.7 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/20s/fast_inference_20s_v07_stop_turn_resume_seed5207.mp4` |
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+ | `fast_inference` | 30s | `30s_v00_forward_sweep_seed5300` | ok | 7m 40.3s | 79.0 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/30s/fast_inference_30s_v00_forward_sweep_seed5300.mp4` |
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+ | `fast_inference` | 30s | `30s_v01_forward_right_arc_seed5301` | ok | 7m 37.6s | 79.0 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/30s/fast_inference_30s_v01_forward_right_arc_seed5301.mp4` |
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+ | `fast_inference` | 30s | `30s_v02_left_strafe_scan_seed5302` | ok | 16m 00.1s | 79.1 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/30s/fast_inference_30s_v02_left_strafe_scan_seed5302.mp4` |
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+ | `fast_inference` | 30s | `30s_v03_right_strafe_scan_seed5303` | ok | 7m 43.2s | 79.3 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/30s/fast_inference_30s_v03_right_strafe_scan_seed5303.mp4` |
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+ | `fast_inference` | 30s | `30s_v04_pitch_up_forward_seed5304` | ok | 16m 55.3s | 78.9 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/30s/fast_inference_30s_v04_pitch_up_forward_seed5304.mp4` |
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+ | `fast_inference` | 30s | `30s_v05_reverse_pitch_down_seed5305` | ok | 7m 54.7s | 79.1 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/30s/fast_inference_30s_v05_reverse_pitch_down_seed5305.mp4` |
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+ | `fast_inference` | 30s | `30s_v06_zigzag_combo_seed5306` | ok | 7m 41.5s | 79.0 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/30s/fast_inference_30s_v06_zigzag_combo_seed5306.mp4` |
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+ | `fast_inference` | 30s | `30s_v07_stop_turn_resume_seed5307` | ok | 13m 09.9s | 78.7 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/30s/fast_inference_30s_v07_stop_turn_resume_seed5307.mp4` |
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+ | `fast_inference` | 60s | `60s_v00_forward_sweep_seed5600` | oom | 9m 47.0s | 79.1 GiB | `experiments/lingbot_long_480p/outputs/fast_inference/60s/fast_inference_60s_v00_forward_sweep_seed5600.mp4` |
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+ | `fast_inference` | 60s | `60s_v01_forward_right_arc_seed5601` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/fast_inference/60s/fast_inference_60s_v01_forward_right_arc_seed5601.mp4` |
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+ | `fast_inference` | 60s | `60s_v02_left_strafe_scan_seed5602` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/fast_inference/60s/fast_inference_60s_v02_left_strafe_scan_seed5602.mp4` |
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+ | `fast_inference` | 60s | `60s_v03_right_strafe_scan_seed5603` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/fast_inference/60s/fast_inference_60s_v03_right_strafe_scan_seed5603.mp4` |
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+ | `fast_inference` | 60s | `60s_v04_pitch_up_forward_seed5604` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/fast_inference/60s/fast_inference_60s_v04_pitch_up_forward_seed5604.mp4` |
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+ | `fast_inference` | 60s | `60s_v05_reverse_pitch_down_seed5605` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/fast_inference/60s/fast_inference_60s_v05_reverse_pitch_down_seed5605.mp4` |
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+ | `fast_inference` | 60s | `60s_v06_zigzag_combo_seed5606` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/fast_inference/60s/fast_inference_60s_v06_zigzag_combo_seed5606.mp4` |
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+ | `fast_inference` | 60s | `60s_v07_stop_turn_resume_seed5607` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/fast_inference/60s/fast_inference_60s_v07_stop_turn_resume_seed5607.mp4` |
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+ | `inference` | 10s | `10s_v00_forward_sweep_seed5100` | ok | 19m 23.9s | 49.5 GiB | `experiments/lingbot_long_480p/outputs/inference/10s/inference_10s_v00_forward_sweep_seed5100.mp4` |
80
+ | `inference` | 10s | `10s_v01_forward_right_arc_seed5101` | ok | 32m 27.8s | 49.3 GiB | `experiments/lingbot_long_480p/outputs/inference/10s/inference_10s_v01_forward_right_arc_seed5101.mp4` |
81
+ | `inference` | 10s | `10s_v02_left_strafe_scan_seed5102` | ok | 21m 05.8s | 49.9 GiB | `experiments/lingbot_long_480p/outputs/inference/10s/inference_10s_v02_left_strafe_scan_seed5102.mp4` |
82
+ | `inference` | 10s | `10s_v03_right_strafe_scan_seed5103` | ok | 24m 26.3s | 49.5 GiB | `experiments/lingbot_long_480p/outputs/inference/10s/inference_10s_v03_right_strafe_scan_seed5103.mp4` |
83
+ | `inference` | 10s | `10s_v04_pitch_up_forward_seed5104` | ok | 10m 25.5s | 50.0 GiB | `experiments/lingbot_long_480p/outputs/inference/10s/inference_10s_v04_pitch_up_forward_seed5104.mp4` |
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+ | `inference` | 10s | `10s_v05_reverse_pitch_down_seed5105` | ok | 22m 59.5s | 49.5 GiB | `experiments/lingbot_long_480p/outputs/inference/10s/inference_10s_v05_reverse_pitch_down_seed5105.mp4` |
85
+ | `inference` | 10s | `10s_v06_zigzag_combo_seed5106` | ok | 9m 00.4s | 50.1 GiB | `experiments/lingbot_long_480p/outputs/inference/10s/inference_10s_v06_zigzag_combo_seed5106.mp4` |
86
+ | `inference` | 10s | `10s_v07_stop_turn_resume_seed5107` | ok | 20m 48.0s | 49.9 GiB | `experiments/lingbot_long_480p/outputs/inference/10s/inference_10s_v07_stop_turn_resume_seed5107.mp4` |
87
+ | `inference` | 20s | `20s_v00_forward_sweep_seed5200` | ok | 34m 29.5s | 65.9 GiB | `experiments/lingbot_long_480p/outputs/inference/20s/inference_20s_v00_forward_sweep_seed5200.mp4` |
88
+ | `inference` | 20s | `20s_v01_forward_right_arc_seed5201` | ok | 23m 20.5s | 66.1 GiB | `experiments/lingbot_long_480p/outputs/inference/20s/inference_20s_v01_forward_right_arc_seed5201.mp4` |
89
+ | `inference` | 20s | `20s_v02_left_strafe_scan_seed5202` | ok | 31m 16.0s | 65.3 GiB | `experiments/lingbot_long_480p/outputs/inference/20s/inference_20s_v02_left_strafe_scan_seed5202.mp4` |
90
+ | `inference` | 20s | `20s_v03_right_strafe_scan_seed5203` | ok | 23m 18.4s | 66.0 GiB | `experiments/lingbot_long_480p/outputs/inference/20s/inference_20s_v03_right_strafe_scan_seed5203.mp4` |
91
+ | `inference` | 20s | `20s_v04_pitch_up_forward_seed5204` | ok | 32m 32.1s | 65.3 GiB | `experiments/lingbot_long_480p/outputs/inference/20s/inference_20s_v04_pitch_up_forward_seed5204.mp4` |
92
+ | `inference` | 20s | `20s_v05_reverse_pitch_down_seed5205` | ok | 30m 53.7s | 64.8 GiB | `experiments/lingbot_long_480p/outputs/inference/20s/inference_20s_v05_reverse_pitch_down_seed5205.mp4` |
93
+ | `inference` | 20s | `20s_v06_zigzag_combo_seed5206` | ok | 35m 55.2s | 66.1 GiB | `experiments/lingbot_long_480p/outputs/inference/20s/inference_20s_v06_zigzag_combo_seed5206.mp4` |
94
+ | `inference` | 20s | `20s_v07_stop_turn_resume_seed5207` | ok | 36m 47.1s | 64.8 GiB | `experiments/lingbot_long_480p/outputs/inference/20s/inference_20s_v07_stop_turn_resume_seed5207.mp4` |
95
+ | `inference` | 30s | `30s_v00_forward_sweep_seed5300` | ok | 35m 06.6s | 79.2 GiB | `experiments/lingbot_long_480p/outputs/inference/30s/inference_30s_v00_forward_sweep_seed5300.mp4` |
96
+ | `inference` | 30s | `30s_v01_forward_right_arc_seed5301` | ok | 45m 33.1s | 79.0 GiB | `experiments/lingbot_long_480p/outputs/inference/30s/inference_30s_v01_forward_right_arc_seed5301.mp4` |
97
+ | `inference` | 30s | `30s_v02_left_strafe_scan_seed5302` | ok | 40m 24.3s | 79.2 GiB | `experiments/lingbot_long_480p/outputs/inference/30s/inference_30s_v02_left_strafe_scan_seed5302.mp4` |
98
+ | `inference` | 30s | `30s_v03_right_strafe_scan_seed5303` | ok | 38m 50.3s | 79.0 GiB | `experiments/lingbot_long_480p/outputs/inference/30s/inference_30s_v03_right_strafe_scan_seed5303.mp4` |
99
+ | `inference` | 30s | `30s_v04_pitch_up_forward_seed5304` | ok | 36m 15.8s | 79.2 GiB | `experiments/lingbot_long_480p/outputs/inference/30s/inference_30s_v04_pitch_up_forward_seed5304.mp4` |
100
+ | `inference` | 30s | `30s_v05_reverse_pitch_down_seed5305` | ok | 42m 32.1s | 79.3 GiB | `experiments/lingbot_long_480p/outputs/inference/30s/inference_30s_v05_reverse_pitch_down_seed5305.mp4` |
101
+ | `inference` | 30s | `30s_v06_zigzag_combo_seed5306` | ok | 47m 17.1s | 79.2 GiB | `experiments/lingbot_long_480p/outputs/inference/30s/inference_30s_v06_zigzag_combo_seed5306.mp4` |
102
+ | `inference` | 30s | `30s_v07_stop_turn_resume_seed5307` | ok | 51m 13.0s | 79.2 GiB | `experiments/lingbot_long_480p/outputs/inference/30s/inference_30s_v07_stop_turn_resume_seed5307.mp4` |
103
+ | `inference` | 60s | `60s_v00_forward_sweep_seed5600` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/inference/60s/inference_60s_v00_forward_sweep_seed5600.mp4` |
104
+ | `inference` | 60s | `60s_v01_forward_right_arc_seed5601` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/inference/60s/inference_60s_v01_forward_right_arc_seed5601.mp4` |
105
+ | `inference` | 60s | `60s_v02_left_strafe_scan_seed5602` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/inference/60s/inference_60s_v02_left_strafe_scan_seed5602.mp4` |
106
+ | `inference` | 60s | `60s_v03_right_strafe_scan_seed5603` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/inference/60s/inference_60s_v03_right_strafe_scan_seed5603.mp4` |
107
+ | `inference` | 60s | `60s_v04_pitch_up_forward_seed5604` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/inference/60s/inference_60s_v04_pitch_up_forward_seed5604.mp4` |
108
+ | `inference` | 60s | `60s_v05_reverse_pitch_down_seed5605` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/inference/60s/inference_60s_v05_reverse_pitch_down_seed5605.mp4` |
109
+ | `inference` | 60s | `60s_v06_zigzag_combo_seed5606` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/inference/60s/inference_60s_v06_zigzag_combo_seed5606.mp4` |
110
+ | `inference` | 60s | `60s_v07_stop_turn_resume_seed5607` | skipped | 0m 00.0s | n/a | `experiments/lingbot_long_480p/outputs/inference/60s/inference_60s_v07_stop_turn_resume_seed5607.mp4` |