From 3069666a157e03c1002e77a1a4a5609212125eb3 Mon Sep 17 00:00:00 2001
From: qhy <2728290997@qq.com>
Date: Tue, 10 Feb 2026 14:49:26 +0800
Subject: [PATCH] =?UTF-8?q?=E8=84=9A=E6=9C=AC=E4=BF=AE=E6=94=B9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../case1/run_world_model_interaction.sh                   | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh
index 698fae2..b659d07 100644
--- a/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh
+++ b/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"