脚本修改

unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh

@@ -4,7 +4,7 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
 {
     time TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1 CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
         --seed 123 \
-        --ckpt_path ckpts/unifolm_wma_dual_mix_bf16.ckpt \
+        --ckpt_path ckpts/unifolm_wma_dual_mixbf16.ckpt \
         --config configs/inference/world_model_interaction.yaml \
         --savedir "${res_dir}/output" \
         --bs 1 --height 320 --width 512 \
@@ -21,6 +21,9 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
         --timestep_spacing 'uniform_trailing' \
         --guidance_rescale 0.7 \
         --perframe_ae \
-        --vae_dtype bf16 \
+        --diffusion_dtype fp32 \
+        --projector_mode fp32 \
+        --encoder_mode fp32 \
+        --vae_dtype fp32 \
         --fast_policy_no_decode
 } 2>&1 | tee "${res_dir}/output.log"