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实现fs_embed 缓存，收益不明显，精度不降低

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olivame
2026-02-09 18:49:44 +00:00
parent 0b3b0e534a
commit 125b85ce68
2 changed files with 30 additions and 22 deletions
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28
src/unifolm_wma/modules/networks/wma_model.py
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@@ -688,6 +688,8 @@ class WMAModel(nn.Module):
# Context precomputation cache
self._ctx_cache_enabled = False
self._ctx_cache = {}
# fs_embed cache
self._fs_embed_cache = None
def forward(self,
x: Tensor,
@@ -789,16 +791,20 @@ class WMAModel(nn.Module):
# Combine emb
if self.fs_condition:
if fs is None:
fs = torch.tensor([self.default_fs] * b,
dtype=torch.long,
device=x.device)
fs_emb = timestep_embedding(fs,
self.model_channels,
repeat_only=False).type(x.dtype)
fs_embed = self.fps_embedding(fs_emb)
fs_embed = fs_embed.repeat_interleave(repeats=t, dim=0)
if self._ctx_cache_enabled and self._fs_embed_cache is not None:
fs_embed = self._fs_embed_cache
else:
if fs is None:
fs = torch.tensor([self.default_fs] * b,
dtype=torch.long,
device=x.device)
fs_emb = timestep_embedding(fs,
self.model_channels,
repeat_only=False).type(x.dtype)
fs_embed = self.fps_embedding(fs_emb)
fs_embed = fs_embed.repeat_interleave(repeats=t, dim=0)
if self._ctx_cache_enabled:
self._fs_embed_cache = fs_embed
emb = emb + fs_embed
h = x.type(self.dtype)
@@ -864,6 +870,7 @@ def enable_ctx_cache(model):
if isinstance(m, WMAModel):
m._ctx_cache_enabled = True
m._ctx_cache = {}
m._fs_embed_cache = None
# conditional_unet1d cache
from unifolm_wma.models.diffusion_head.conditional_unet1d import ConditionalUnet1D
for m in model.modules():
@@ -878,6 +885,7 @@ def disable_ctx_cache(model):
if isinstance(m, WMAModel):
m._ctx_cache_enabled = False
m._ctx_cache = {}
m._fs_embed_cache = None
from unifolm_wma.models.diffusion_head.conditional_unet1d import ConditionalUnet1D
for m in model.modules():
if isinstance(m, ConditionalUnet1D):

24
unitree_z1_dual_arm_cleanup_pencils/case1/output.log
View File

@@ -1,14 +1,14 @@
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
__import__("pkg_resources").declare_namespace(__name__)
2026-02-09 18:16:36.491189: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`.
2026-02-09 18:16:36.494639: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-09 18:16:36.527202: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
2026-02-09 18:16:36.527247: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
2026-02-09 18:16:36.529027: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
2026-02-09 18:16:36.537430: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-09 18:16:36.537748: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
2026-02-09 18:39:50.119842: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`.
2026-02-09 18:39:50.123128: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-09 18:39:50.156652: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
2026-02-09 18:39:50.156708: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
2026-02-09 18:39:50.158926: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
2026-02-09 18:39:50.167779: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-09 18:39:50.168073: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
2026-02-09 18:16:37.281129: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
2026-02-09 18:39:50.915144: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
[rank: 0] Global seed set to 123
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
@@ -116,7 +116,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing XbmImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
12%|█▎ | 1/8 [01:08<07:58, 68.38s/it]
25%|██▌ | 2/8 [02:13<06:38, 66.48s/it]
@@ -140,6 +140,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
>>> Step 4: generating actions ...
>>> Step 4: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>