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qhy
2026-02-10 14:49:26 +08:00
parent 68369cc15f
commit 3069666a15
1 changed files with 5 additions and 2 deletions
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7
unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh
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@@ -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 \ time TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1 CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
--seed 123 \ --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 \ --config configs/inference/world_model_interaction.yaml \
--savedir "${res_dir}/output" \ --savedir "${res_dir}/output" \
--bs 1 --height 320 --width 512 \ --bs 1 --height 320 --width 512 \
@@ -21,6 +21,9 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
--timestep_spacing 'uniform_trailing' \ --timestep_spacing 'uniform_trailing' \
--guidance_rescale 0.7 \ --guidance_rescale 0.7 \
--perframe_ae \ --perframe_ae \
--vae_dtype bf16 \ --diffusion_dtype fp32 \
--projector_mode fp32 \
--encoder_mode fp32 \
--vae_dtype fp32 \
--fast_policy_no_decode --fast_policy_no_decode
} 2>&1 | tee "${res_dir}/output.log" } 2>&1 | tee "${res_dir}/output.log"