olivame/unifolm-world-model-action
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├─────┼─────────────────────────────────┼───────────────────────┼───────────────────┤

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│ 1   │ CUDA Stream 预创建              │ wma_model.py          │ 50次 → 0次        │
  ├─────┼─────────────────────────────────┼───────────────────────┼───────────────────┤
  │ 2   │ noise buffer 预分配             │ ddim.py               │ 50次 alloc → 0次  │
  ├─────┼─────────────────────────────────┼───────────────────────┼───────────────────┤
  │ 3   │ global_feature expand提到循环外 │ conditional_unet1d.py │ ~700次 → ~100次   │
  ├─────┼─────────────────────────────────┼───────────────────────┼───────────────────┤
  │ 4   │ alpha/sigma dtype 预转换        │ ddim.py               │ 200次 .to() → 0次 │
效果不算特别明显
This commit is contained in:
olivame
2026-02-10 13:40:52 +00:00
parent a09d35ae5b
commit 2cef3e9e45
4 changed files with 52 additions and 40 deletions
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24
unitree_z1_dual_arm_cleanup_pencils/case1/output.log
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@@ -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__)
2026-02-10 10:36:44.797852: 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`.
2026-02-10 10:36:44.801300: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-10 10:36:44.837891: 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
2026-02-10 10:36:44.837946: 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
2026-02-10 10:36:44.839880: 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
2026-02-10 10:36:44.849073: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-10 10:36:44.849365: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
2026-02-10 13:30:56.669605: 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`.
2026-02-10 13:30:56.672987: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-10 13:30:56.704235: 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
2026-02-10 13:30:56.704271: 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
2026-02-10 13:30:56.706111: 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
2026-02-10 13:30:56.714239: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-10 13:30:56.714546: 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.
2026-02-10 10:36:45.644793: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
2026-02-10 13:30:57.511779: 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 [01:02<07:20, 63.00s/it]
25%|██▌ | 2/8 [02:02<06:05, 60.84s/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 ...
>>>>>>>>>>>>>>>>>>>>>>>>