diff --git a/.claude/settings.local.json b/.claude/settings.local.json index 6a54c35..6b8ffe6 100644 --- a/.claude/settings.local.json +++ b/.claude/settings.local.json @@ -9,7 +9,12 @@ "Bash(nvidia-smi:*)", "Bash(conda activate unifolm-wma)", "Bash(conda info:*)", - "Bash(direnv allow:*)" + "Bash(direnv allow:*)", + "Bash(ls:*)", + "Bash(for scenario in unitree_g1_pack_camera unitree_z1_dual_arm_cleanup_pencils unitree_z1_dual_arm_stackbox unitree_z1_dual_arm_stackbox_v2 unitree_z1_stackbox)", + "Bash(do for case in case1 case2 case3 case4)", + "Bash(done)", + "Bash(chmod:*)" ] } } diff --git a/run_all_case.sh b/run_all_case.sh new file mode 100644 index 0000000..6252554 --- /dev/null +++ b/run_all_case.sh @@ -0,0 +1,114 @@ +#!/bin/bash + +# 自动执行所有场景的所有case +# 总共5个场景，每个场景4个case，共20个case +# 设置环境变量（离线模式） +export HF_HUB_OFFLINE=1 +export TRANSFORMERS_OFFLINE=1 + +# 颜色定义 +RED='\033[0;31m' +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +BLUE='\033[0;34m' +NC='\033[0m' # No Color + +# 定义所有场景 +SCENARIOS=( + "unitree_g1_pack_camera" + "unitree_z1_dual_arm_cleanup_pencils" + "unitree_z1_dual_arm_stackbox" + "unitree_z1_dual_arm_stackbox_v2" + "unitree_z1_stackbox" +) + +# 定义case数量 +CASES=(1 2 3 4) + +# 记录开始时间 +START_TIME=$(date +%s) +LOG_FILE="run_all_cases_$(date +%Y%m%d_%H%M%S).log" + +echo -e "${BLUE}========================================${NC}" +echo -e "${BLUE}开始执行所有场景的case${NC}" +echo -e "${BLUE}总共: ${#SCENARIOS[@]} 个场景 x ${#CASES[@]} 个case = $((${#SCENARIOS[@]} * ${#CASES[@]})) 个任务${NC}" +echo -e "${BLUE}日志文件: ${LOG_FILE}${NC}" +echo -e "${BLUE}========================================${NC}" +echo "" + +# 初始化计数器 +TOTAL_CASES=$((${#SCENARIOS[@]} * ${#CASES[@]})) +CURRENT_CASE=0 +SUCCESS_COUNT=0 +FAIL_COUNT=0 + +# 记录失败的case +declare -a FAILED_CASES + +# 遍历所有场景 +for scenario in "${SCENARIOS[@]}"; do + echo -e "${YELLOW}>>> 场景: ${scenario}${NC}" + + # 遍历所有case + for case_num in "${CASES[@]}"; do + CURRENT_CASE=$((CURRENT_CASE + 1)) + case_dir="${scenario}/case${case_num}" + script_path="${case_dir}/run_world_model_interaction.sh" + + echo -e "${BLUE}[${CURRENT_CASE}/${TOTAL_CASES}] 执行: ${case_dir}${NC}" + + # 检查脚本是否存在 + if [ ! -f "${script_path}" ]; then + echo -e "${RED}错误: 脚本不存在 ${script_path}${NC}" + FAIL_COUNT=$((FAIL_COUNT + 1)) + FAILED_CASES+=("${case_dir} (脚本不存在)") + continue + fi + + # 执行脚本 + echo "开始时间: $(date '+%Y-%m-%d %H:%M:%S')" + + if bash "${script_path}" >> "${LOG_FILE}" 2>&1; then + echo -e "${GREEN}✓ 成功: ${case_dir}${NC}" + SUCCESS_COUNT=$((SUCCESS_COUNT + 1)) + else + echo -e "${RED}✗ 失败: ${case_dir}${NC}" + FAIL_COUNT=$((FAIL_COUNT + 1)) + FAILED_CASES+=("${case_dir}") + fi + + echo "结束时间: $(date '+%Y-%m-%d %H:%M:%S')" + echo "" + done + + echo "" +done + +# 计算总耗时 +END_TIME=$(date +%s) +DURATION=$((END_TIME - START_TIME)) +HOURS=$((DURATION / 3600)) +MINUTES=$(((DURATION % 3600) / 60)) +SECONDS=$((DURATION % 60)) + +# 输出总结 +echo -e "${BLUE}========================================${NC}" +echo -e "${BLUE}执行完成！${NC}" +echo -e "${BLUE}========================================${NC}" +echo -e "总任务数: ${TOTAL_CASES}" +echo -e "${GREEN}成功: ${SUCCESS_COUNT}${NC}" +echo -e "${RED}失败: ${FAIL_COUNT}${NC}" +echo -e "总耗时: ${HOURS}小时 ${MINUTES}分钟 ${SECONDS}秒" +echo -e "详细日志: ${LOG_FILE}" +echo "" + +# 如果有失败的case，列出来 +if [ ${FAIL_COUNT} -gt 0 ]; then + echo -e "${RED}失败的case列表:${NC}" + for failed_case in "${FAILED_CASES[@]}"; do + echo -e "${RED} - ${failed_case}${NC}" + done + echo "" +fi + +echo -e "${BLUE}========================================${NC}" diff --git a/run_all_cases_20260211_135725.log b/run_all_cases_20260211_135725.log new file mode 100644 index 0000000..b9ebcfd --- /dev/null +++ b/run_all_cases_20260211_135725.log @@ -0,0 +1,2328 @@ +2026-02-11 13:57:30.192579: 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`. +2026-02-11 13:57:30.242090: 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 +2026-02-11 13:57:30.242134: 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 +2026-02-11 13:57:30.243443: 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 +2026-02-11 13:57:30.250963: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 13:57:31.177911: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:07<05:02, 33.64s/it] 27%|██▋ | 3/11 [01:41<04:31, 33.90s/it] 36%|███▋ | 4/11 [02:15<03:58, 34.05s/it] 45%|████▌ | 5/11 [02:49<03:24, 34.07s/it] 55%|█████▍ | 6/11 [03:23<02:50, 34.08s/it] 64%|██████▎ | 7/11 [03:58<02:16, 34.10s/it] 73%|███████▎ | 8/11 [04:32<01:42, 34.12s/it] 82%|████████▏ | 9/11 [05:06<01:08, 34.12s/it] 91%|█████████ | 10/11 [05:40<00:34, 34.11s/it] 100%|██████████| 11/11 [06:14<00:00, 34.10s/it] 100%|██████████| 11/11 [06:14<00:00, 34.04s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m48.347s +user 6m11.434s +sys 1m25.305s +2026-02-11 14:04:18.542839: 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`. +2026-02-11 14:04:18.593447: 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 +2026-02-11 14:04:18.593492: 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 +2026-02-11 14:04:18.594810: 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 +2026-02-11 14:04:18.602331: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:04:19.529518: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.26s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.23s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.23s/it] 45%|████▌ | 5/11 [02:50<03:25, 34.18s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.18s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.18s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.16s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.15s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.16s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] 100%|██████████| 11/11 [06:15<00:00, 34.17s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m49.847s +user 6m14.600s +sys 1m23.898s +2026-02-11 14:11:08.388455: 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`. +2026-02-11 14:11:08.437992: 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 +2026-02-11 14:11:08.438037: 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 +2026-02-11 14:11:08.439358: 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 +2026-02-11 14:11:08.446903: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:11:09.369764: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.25s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.25s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.22s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.20s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.16s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.14s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.11s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.07s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m48.681s +user 6m14.841s +sys 1m21.562s +2026-02-11 14:17:57.092085: 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`. +2026-02-11 14:17:57.141607: 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 +2026-02-11 14:17:57.141661: 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 +2026-02-11 14:17:57.142984: 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 +2026-02-11 14:17:57.150517: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:17:58.074812: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.29s/it] 27%|██▋ | 3/11 [01:42<04:34, 34.25s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.23s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.19s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.17s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.19s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.18s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.16s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.13s/it] 100%|██████████| 11/11 [06:15<00:00, 34.11s/it] 100%|██████████| 11/11 [06:15<00:00, 34.17s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m49.501s +user 6m16.155s +sys 1m21.678s +2026-02-11 14:24:46.595601: 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`. +2026-02-11 14:24:46.645554: 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 +2026-02-11 14:24:46.645598: 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 +2026-02-11 14:24:46.646935: 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 +2026-02-11 14:24:46.654595: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:24:47.580547: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 25%|██▌ | 2/8 [01:08<03:24, 34.15s/it] 38%|███▊ | 3/8 [01:42<02:50, 34.11s/it] 50%|█████ | 4/8 [02:16<02:16, 34.10s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.08s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.09s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.09s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 5m5.299s +user 4m45.465s +sys 1m2.997s +2026-02-11 14:29:51.911195: 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`. +2026-02-11 14:29:51.961101: 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 +2026-02-11 14:29:51.961156: 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 +2026-02-11 14:29:51.962467: 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 +2026-02-11 14:29:51.969980: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:29:52.899745: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 25%|██▌ | 2/8 [01:08<03:25, 34.24s/it] 38%|███▊ | 3/8 [01:42<02:51, 34.21s/it] 50%|█████ | 4/8 [02:16<02:16, 34.18s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.15s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.11s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.10s/it] 100%|██████████| 8/8 [04:32<00:00, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.12s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 5m6.112s +user 4m42.584s +sys 1m6.728s +2026-02-11 14:34:58.016000: 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`. +2026-02-11 14:34:58.066369: 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 +2026-02-11 14:34:58.066418: 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 +2026-02-11 14:34:58.067763: 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 +2026-02-11 14:34:58.075447: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:34:59.008184: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 25%|██▌ | 2/8 [01:08<03:25, 34.21s/it] 38%|███▊ | 3/8 [01:42<02:50, 34.18s/it] 50%|█████ | 4/8 [02:16<02:16, 34.16s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.11s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.08s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.09s/it] 100%|██████████| 8/8 [04:32<00:00, 34.08s/it] 100%|██████████| 8/8 [04:32<00:00, 34.11s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 5m6.884s +user 4m45.707s +sys 1m4.570s +2026-02-11 14:40:06.781951: 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`. +2026-02-11 14:40:06.832600: 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 +2026-02-11 14:40:06.832649: 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 +2026-02-11 14:40:06.833982: 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 +2026-02-11 14:40:06.841504: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:40:07.772162: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 25%|██▌ | 2/8 [01:08<03:25, 34.26s/it] 38%|███▊ | 3/8 [01:42<02:51, 34.23s/it] 50%|█████ | 4/8 [02:16<02:16, 34.20s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.16s/it] 75%|███████▌ | 6/8 [03:25<01:08, 34.14s/it] 88%|████████▊ | 7/8 [03:59<00:34, 34.12s/it] 100%|██████████| 8/8 [04:33<00:00, 34.12s/it] 100%|██████████| 8/8 [04:33<00:00, 34.15s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 5m9.921s +user 4m51.124s +sys 1m0.381s +2026-02-11 14:45:16.672502: 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`. +2026-02-11 14:45:16.722666: 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 +2026-02-11 14:45:16.722716: 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 +2026-02-11 14:45:16.724025: 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 +2026-02-11 14:45:16.731562: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:45:17.646917: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 29%|██▊ | 2/7 [01:08<02:50, 34.15s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.13s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.09s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.09s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.09s/it] 100%|██████████| 7/7 [03:58<00:00, 34.08s/it] 100%|██████████| 7/7 [03:58<00:00, 34.09s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 4m38.201s +user 4m24.927s +sys 0m56.965s +2026-02-11 14:49:54.901507: 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`. +2026-02-11 14:49:54.951975: 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 +2026-02-11 14:49:54.952023: 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 +2026-02-11 14:49:54.953338: 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 +2026-02-11 14:49:54.960938: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:49:55.888131: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 29%|██▊ | 2/7 [01:08<02:51, 34.26s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.25s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.22s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.17s/it] 86%|████████▌ | 6/7 [03:25<00:34, 34.13s/it] 100%|██████████| 7/7 [03:59<00:00, 34.11s/it] 100%|██████████| 7/7 [03:59<00:00, 34.16s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 4m38.161s +user 4m26.060s +sys 0m55.500s +2026-02-11 14:54:33.079012: 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`. +2026-02-11 14:54:33.128851: 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 +2026-02-11 14:54:33.128900: 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 +2026-02-11 14:54:33.130229: 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 +2026-02-11 14:54:33.137786: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:54:34.065218: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 29%|██▊ | 2/7 [01:08<02:51, 34.24s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.25s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.17s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.13s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.11s/it] 100%|██████████| 7/7 [03:58<00:00, 34.09s/it] 100%|██████████| 7/7 [03:58<00:00, 34.13s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 4m38.699s +user 4m22.748s +sys 0m59.172s +2026-02-11 14:59:11.849320: 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`. +2026-02-11 14:59:11.899274: 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 +2026-02-11 14:59:11.899322: 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 +2026-02-11 14:59:11.900640: 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 +2026-02-11 14:59:11.908158: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:59:12.830387: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 29%|██▊ | 2/7 [01:08<02:50, 34.17s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.13s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.12s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.07s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.07s/it] 100%|██████████| 7/7 [03:58<00:00, 34.06s/it] 100%|██████████| 7/7 [03:58<00:00, 34.09s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 4m37.807s +user 4m20.430s +sys 1m0.548s +2026-02-11 15:03:49.644187: 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`. +2026-02-11 15:03:49.694117: 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 +2026-02-11 15:03:49.694162: 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 +2026-02-11 15:03:49.695456: 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 +2026-02-11 15:03:49.702946: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:03:50.638334: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.26s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.17s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.15s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.11s/it] 55%|█████▍ | 6/11 [03:24<02:50, 34.09s/it] 64%|██████▎ | 7/11 [03:58<02:16, 34.07s/it] 73%|███████▎ | 8/11 [04:32<01:42, 34.04s/it] 82%|████████▏ | 9/11 [05:06<01:08, 34.05s/it] 91%|█████████ | 10/11 [05:40<00:34, 34.07s/it] 100%|██████████| 11/11 [06:15<00:00, 34.07s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m56.031s +user 6m22.485s +sys 1m23.599s +2026-02-11 15:10:45.687888: 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`. +2026-02-11 15:10:45.738006: 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 +2026-02-11 15:10:45.738054: 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 +2026-02-11 15:10:45.739410: 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 +2026-02-11 15:10:45.747229: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:10:46.687896: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.26s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.20s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.16s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.15s/it] 55%|█████▍ | 6/11 [03:24<02:50, 34.13s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.13s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.12s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.11s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m56.021s +user 6m14.948s +sys 1m31.364s +2026-02-11 15:17:41.661323: 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`. +2026-02-11 15:17:41.711317: 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 +2026-02-11 15:17:41.711373: 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 +2026-02-11 15:17:41.712706: 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 +2026-02-11 15:17:41.720248: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:17:42.650151: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.25s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.23s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.18s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.17s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.15s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.13s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.12s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.09s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m56.873s +user 6m16.064s +sys 1m30.735s +2026-02-11 15:24:38.487806: 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`. +2026-02-11 15:24:38.538144: 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 +2026-02-11 15:24:38.538200: 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 +2026-02-11 15:24:38.539554: 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 +2026-02-11 15:24:38.547185: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:24:39.470885: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:09, 34.35s/it] 27%|██▋ | 3/11 [01:42<04:34, 34.33s/it] 36%|███▋ | 4/11 [02:17<03:59, 34.26s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.22s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.18s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.14s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.09s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.15s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m57.114s +user 6m21.626s +sys 1m25.160s +2026-02-11 15:31:35.657972: 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`. +2026-02-11 15:31:35.707733: 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 +2026-02-11 15:31:35.707792: 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 +2026-02-11 15:31:35.709109: 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 +2026-02-11 15:31:35.716616: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:31:36.648540: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 17%|█▋ | 2/12 [01:08<05:42, 34.24s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.20s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.19s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.14s/it] 50%|█████ | 6/12 [03:24<03:24, 34.09s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.07s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.07s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.05s/it] 83%|████████▎ | 10/12 [05:41<01:08, 34.06s/it] 92%|█████████▏| 11/12 [06:15<00:34, 34.08s/it] 100%|██████████| 12/12 [06:49<00:00, 34.07s/it] 100%|██████████| 12/12 [06:49<00:00, 34.10s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 7m25.752s +user 6m39.497s +sys 1m32.896s +2026-02-11 15:39:01.409308: 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`. +2026-02-11 15:39:01.459136: 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 +2026-02-11 15:39:01.459190: 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 +2026-02-11 15:39:01.460507: 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 +2026-02-11 15:39:01.468019: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:39:02.395912: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 17%|█▋ | 2/12 [01:08<05:41, 34.18s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.15s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.13s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.09s/it] 50%|█████ | 6/12 [03:24<03:24, 34.08s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.06s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.03s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.03s/it] 83%|████████▎ | 10/12 [05:40<01:08, 34.03s/it] 92%|█████████▏| 11/12 [06:14<00:34, 34.02s/it] 100%|██████████| 12/12 [06:48<00:00, 34.00s/it] 100%|██████████| 12/12 [06:48<00:00, 34.05s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 7m25.895s +user 6m43.188s +sys 1m30.039s +2026-02-11 15:46:27.304090: 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`. +2026-02-11 15:46:27.354074: 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 +2026-02-11 15:46:27.354120: 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 +2026-02-11 15:46:27.355468: 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 +2026-02-11 15:46:27.363130: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:46:28.290783: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 17%|█▋ | 2/12 [01:08<05:42, 34.24s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.22s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.16s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.11s/it] 50%|█████ | 6/12 [03:24<03:24, 34.08s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.04s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.02s/it] 75%|███████▌ | 9/12 [05:06<01:41, 33.99s/it] 83%|████████▎ | 10/12 [05:40<01:07, 33.99s/it] 92%|█████████▏| 11/12 [06:14<00:33, 33.97s/it] 100%|██████████| 12/12 [06:48<00:00, 33.96s/it] 100%|██████████| 12/12 [06:48<00:00, 34.04s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 7m25.192s +user 6m39.503s +sys 1m31.823s +2026-02-11 15:53:52.504337: 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`. +2026-02-11 15:53:52.554351: 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 +2026-02-11 15:53:52.554397: 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 +2026-02-11 15:53:52.555718: 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 +2026-02-11 15:53:52.563252: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:53:53.493343: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 17%|█▋ | 2/12 [01:08<05:41, 34.19s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.15s/it] 33%|███▎ | 4/12 [02:16<04:32, 34.12s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.09s/it] 50%|█████ | 6/12 [03:24<03:24, 34.05s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.03s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.04s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.03s/it] 83%|████████▎ | 10/12 [05:40<01:08, 34.01s/it] 92%|█████████▏| 11/12 [06:14<00:34, 34.03s/it] 100%|██████████| 12/12 [06:48<00:00, 34.02s/it] 100%|██████████| 12/12 [06:48<00:00, 34.05s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 7m25.114s +user 6m35.463s +sys 1m35.788s diff --git a/run_all_psnr.sh b/run_all_psnr.sh new file mode 100755 index 0000000..863edc0 --- /dev/null +++ b/run_all_psnr.sh @@ -0,0 +1,61 @@ +#!/bin/bash +set -e + +SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" +cd "$SCRIPT_DIR" + +SCENARIOS=( + unitree_g1_pack_camera + unitree_z1_dual_arm_cleanup_pencils + unitree_z1_dual_arm_stackbox + unitree_z1_dual_arm_stackbox_v2 + unitree_z1_stackbox +) + +CASES=(case1 case2 case3 case4) + +total=0 +success=0 +fail=0 + +for scenario in "${SCENARIOS[@]}"; do + for case in "${CASES[@]}"; do + case_dir="${scenario}/${case}" + gt_video="${case_dir}/${scenario}_${case}.mp4" + pred_video=$(ls "${case_dir}"/output/inference/*_full_fs*.mp4 2>/dev/null | head -1) + output_file="${case_dir}/psnr_result.json" + + total=$((total + 1)) + echo "==========================================" + echo "[${total}/20] ${case_dir}" + + if [ ! -f "$gt_video" ]; then + echo " SKIP: GT video not found: $gt_video" + fail=$((fail + 1)) + continue + fi + if [ -z "$pred_video" ]; then + echo " SKIP: pred video not found in ${case_dir}/output/inference/" + fail=$((fail + 1)) + continue + fi + + echo " GT: $gt_video" + echo " Pred: $pred_video" + echo " Out: $output_file" + + if python3 psnr_score_for_challenge.py \ + --gt_video "$gt_video" \ + --pred_video "$pred_video" \ + --output_file "$output_file"; then + success=$((success + 1)) + echo " DONE" + else + fail=$((fail + 1)) + echo " FAILED" + fi + done +done + +echo "==========================================" +echo "Finished: ${success} success, ${fail} fail, ${total} total" diff --git a/scripts/evaluation/world_model_interaction.py b/scripts/evaluation/world_model_interaction.py index 4b02d3e..e2ba396 100644 --- a/scripts/evaluation/world_model_interaction.py +++ b/scripts/evaluation/world_model_interaction.py @@ -571,6 +571,11 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None: torch.save(model, prepared_path) print(f">>> Prepared model saved ({os.path.getsize(prepared_path) / 1024**3:.1f} GB).") + # ---- BF16: only convert the diffusion backbone, keep VAE/CLIP/embedder in FP32 ---- + model.model.to(torch.bfloat16) + model.model.diffusion_model.dtype = torch.bfloat16 + print(">>> Diffusion backbone (model.model) converted to BF16.") + # Build normalizer (always needed, independent of model loading path) logging.info("***** Configing Data *****") data = instantiate_from_config(config.data) diff --git a/unitree_g1_pack_camera/case1/output.log b/unitree_g1_pack_camera/case1/output.log new file mode 100644 index 0000000..911ce7d --- /dev/null +++ b/unitree_g1_pack_camera/case1/output.log @@ -0,0 +1,120 @@ +2026-02-11 13:57:30.192579: 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`. +2026-02-11 13:57:30.242090: 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 +2026-02-11 13:57:30.242134: 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 +2026-02-11 13:57:30.243443: 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 +2026-02-11 13:57:30.250963: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 13:57:31.177911: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:07<05:02, 33.64s/it] 27%|██▋ | 3/11 [01:41<04:31, 33.90s/it] 36%|███▋ | 4/11 [02:15<03:58, 34.05s/it] 45%|████▌ | 5/11 [02:49<03:24, 34.07s/it] 55%|█████▍ | 6/11 [03:23<02:50, 34.08s/it] 64%|██████▎ | 7/11 [03:58<02:16, 34.10s/it] 73%|███████▎ | 8/11 [04:32<01:42, 34.12s/it] 82%|████████▏ | 9/11 [05:06<01:08, 34.12s/it] 91%|█████████ | 10/11 [05:40<00:34, 34.11s/it] 100%|██████████| 11/11 [06:14<00:00, 34.10s/it] 100%|██████████| 11/11 [06:14<00:00, 34.04s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m48.347s +user 6m11.434s +sys 1m25.305s diff --git a/unitree_g1_pack_camera/case1/psnr_result.json b/unitree_g1_pack_camera/case1/psnr_result.json new file mode 100644 index 0000000..09e5cb6 --- /dev/null +++ b/unitree_g1_pack_camera/case1/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4", + "pred_video": "unitree_g1_pack_camera/case1/output/inference/0_full_fs6.mp4", + "psnr": 34.28787704598647 +} \ No newline at end of file diff --git a/unitree_g1_pack_camera/case1/run_world_model_interaction.sh b/unitree_g1_pack_camera/case1/run_world_model_interaction.sh index e0e900f..a2dfd5f 100644 --- a/unitree_g1_pack_camera/case1/run_world_model_interaction.sh +++ b/unitree_g1_pack_camera/case1/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_g1_pack_camera" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case2/output.log b/unitree_g1_pack_camera/case2/output.log new file mode 100644 index 0000000..e2f6706 --- /dev/null +++ b/unitree_g1_pack_camera/case2/output.log @@ -0,0 +1,120 @@ +2026-02-11 14:04:18.542839: 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`. +2026-02-11 14:04:18.593447: 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 +2026-02-11 14:04:18.593492: 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 +2026-02-11 14:04:18.594810: 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 +2026-02-11 14:04:18.602331: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:04:19.529518: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.26s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.23s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.23s/it] 45%|████▌ | 5/11 [02:50<03:25, 34.18s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.18s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.18s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.16s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.15s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.16s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] 100%|██████████| 11/11 [06:15<00:00, 34.17s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m49.847s +user 6m14.600s +sys 1m23.898s diff --git a/unitree_g1_pack_camera/case2/psnr_result.json b/unitree_g1_pack_camera/case2/psnr_result.json new file mode 100644 index 0000000..d389db4 --- /dev/null +++ b/unitree_g1_pack_camera/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_g1_pack_camera/case2/unitree_g1_pack_camera_case2.mp4", + "pred_video": "unitree_g1_pack_camera/case2/output/inference/50_full_fs6.mp4", + "psnr": 43.756296364111726 +} \ No newline at end of file diff --git a/unitree_g1_pack_camera/case2/run_world_model_interaction.sh b/unitree_g1_pack_camera/case2/run_world_model_interaction.sh index 36e613d..2712384 100644 --- a/unitree_g1_pack_camera/case2/run_world_model_interaction.sh +++ b/unitree_g1_pack_camera/case2/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_g1_pack_camera" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case3/output.log b/unitree_g1_pack_camera/case3/output.log new file mode 100644 index 0000000..98fc06c --- /dev/null +++ b/unitree_g1_pack_camera/case3/output.log @@ -0,0 +1,120 @@ +2026-02-11 14:11:08.388455: 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`. +2026-02-11 14:11:08.437992: 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 +2026-02-11 14:11:08.438037: 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 +2026-02-11 14:11:08.439358: 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 +2026-02-11 14:11:08.446903: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:11:09.369764: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.25s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.25s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.22s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.20s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.16s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.14s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.11s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.07s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m48.681s +user 6m14.841s +sys 1m21.562s diff --git a/unitree_g1_pack_camera/case3/psnr_result.json b/unitree_g1_pack_camera/case3/psnr_result.json new file mode 100644 index 0000000..6e3c26d --- /dev/null +++ b/unitree_g1_pack_camera/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_g1_pack_camera/case3/unitree_g1_pack_camera_case3.mp4", + "pred_video": "unitree_g1_pack_camera/case3/output/inference/100_full_fs6.mp4", + "psnr": 37.65161306938167 +} \ No newline at end of file diff --git a/unitree_g1_pack_camera/case3/run_world_model_interaction.sh b/unitree_g1_pack_camera/case3/run_world_model_interaction.sh index 87e3098..7023f45 100644 --- a/unitree_g1_pack_camera/case3/run_world_model_interaction.sh +++ b/unitree_g1_pack_camera/case3/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_g1_pack_camera" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case4/output.log b/unitree_g1_pack_camera/case4/output.log new file mode 100644 index 0000000..1067037 --- /dev/null +++ b/unitree_g1_pack_camera/case4/output.log @@ -0,0 +1,120 @@ +2026-02-11 14:17:57.092085: 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`. +2026-02-11 14:17:57.141607: 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 +2026-02-11 14:17:57.141661: 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 +2026-02-11 14:17:57.142984: 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 +2026-02-11 14:17:57.150517: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:17:58.074812: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.29s/it] 27%|██▋ | 3/11 [01:42<04:34, 34.25s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.23s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.19s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.17s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.19s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.18s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.16s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.13s/it] 100%|██████████| 11/11 [06:15<00:00, 34.11s/it] 100%|██████████| 11/11 [06:15<00:00, 34.17s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m49.501s +user 6m16.155s +sys 1m21.678s diff --git a/unitree_g1_pack_camera/case4/psnr_result.json b/unitree_g1_pack_camera/case4/psnr_result.json new file mode 100644 index 0000000..c56e37c --- /dev/null +++ b/unitree_g1_pack_camera/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_g1_pack_camera/case4/unitree_g1_pack_camera_case4.mp4", + "pred_video": "unitree_g1_pack_camera/case4/output/inference/200_full_fs6.mp4", + "psnr": 33.205596596179475 +} \ No newline at end of file diff --git a/unitree_g1_pack_camera/case4/run_world_model_interaction.sh b/unitree_g1_pack_camera/case4/run_world_model_interaction.sh index 46c5217..190674e 100644 --- a/unitree_g1_pack_camera/case4/run_world_model_interaction.sh +++ b/unitree_g1_pack_camera/case4/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_g1_pack_camera" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/output.log b/unitree_z1_dual_arm_cleanup_pencils/case1/output.log index 49ab87b..c63046e 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case1/output.log +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/output.log @@ -1,24 +1,13 @@ -2026-02-10 15:38:28.973314: 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 15:38:29.023024: 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 15:38:29.023070: 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 15:38:29.024393: 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 15:38:29.031901: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 14:24:46.595601: 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`. +2026-02-11 14:24:46.645554: 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 +2026-02-11 14:24:46.645598: 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 +2026-02-11 14:24:46.646935: 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 +2026-02-11 14:24:46.654595: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. -2026-02-10 15:38:29.955454: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 14:24:47.580547: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT Global seed set to 123 -INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode -INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08 -INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08 -AE working on z of shape (1, 4, 32, 32) = 4096 dimensions. -INFO:root:Loaded ViT-H-14 model config. -DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443 -DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0 -INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k). -INFO:root:Loaded ViT-H-14 model config. -DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0 -INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k). ->>> model checkpoint loaded. ->>> Load pre-trained model ... +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -36,13 +25,16 @@ INFO:root:***** Configing Data ***** >>> unitree_g1_pack_camera: data stats loaded. >>> unitree_g1_pack_camera: normalizer initiated. >>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers >>> Generate 16 frames under each generation ... DEBUG:h5py._conv:Creating converter from 3 to 5 DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 - 0%| | 0/8 [00:00>> Step 0: generating actions ... + 0%| | 0/8 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -92,9 +84,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 12%|█▎ | 1/8 [01:14<08:41, 74.51s/it] 25%|██▌ | 2/8 [02:29<07:28, 74.79s/it] 38%|███▊ | 3/8 [03:44<06:14, 74.81s/it] 50%|█████ | 4/8 [04:59<04:59, 74.78s/it] 62%|██████▎ | 5/8 [06:13<03:44, 74.73s/it] 75%|███████▌ | 6/8 [07:28<02:29, 74.66s/it] 88%|████████▊ | 7/8 [08:42<01:14, 74.56s/it] 100%|██████████| 8/8 [09:56<00:00, 74.51s/it] 100%|██████████| 8/8 [09:56<00:00, 74.62s/it] ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 1: generating actions ... + 25%|██▌ | 2/8 [01:08<03:24, 34.15s/it] 38%|███▊ | 3/8 [01:42<02:50, 34.11s/it] 50%|█████ | 4/8 [02:16<02:16, 34.10s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.08s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.09s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.09s/it] >>> Step 1: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 2: generating actions ... @@ -116,6 +106,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin >>> Step 7: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> -real 11m32.477s -user 50m22.445s -sys 0m37.052s +real 5m5.299s +user 4m45.465s +sys 1m2.997s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json index 033b2da..59c344e 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json @@ -1,5 +1,5 @@ { "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case1/unitree_z1_dual_arm_cleanup_pencils_case1.mp4", "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/0_full_fs4.mp4", - "psnr": 47.911564449209735 + "psnr": 48.52515070316814 } \ No newline at end of file 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 8fe141f..a7424b9 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 @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_cleanup_pencils" --n_iter 8 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/output.log b/unitree_z1_dual_arm_cleanup_pencils/case2/output.log new file mode 100644 index 0000000..cdfecec --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/output.log @@ -0,0 +1,111 @@ +2026-02-11 14:29:51.911195: 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`. +2026-02-11 14:29:51.961101: 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 +2026-02-11 14:29:51.961156: 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 +2026-02-11 14:29:51.962467: 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 +2026-02-11 14:29:51.969980: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:29:52.899745: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 25%|██▌ | 2/8 [01:08<03:25, 34.24s/it] 38%|███▊ | 3/8 [01:42<02:51, 34.21s/it] 50%|█████ | 4/8 [02:16<02:16, 34.18s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.15s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.11s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.10s/it] 100%|██████████| 8/8 [04:32<00:00, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.12s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 5m6.112s +user 4m42.584s +sys 1m6.728s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json new file mode 100644 index 0000000..38367f2 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case2/unitree_z1_dual_arm_cleanup_pencils_case2.mp4", + "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/50_full_fs4.mp4", + "psnr": 47.91455867741451 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh index 2b84103..f7f1de3 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_cleanup_pencils" --n_iter 8 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/output.log b/unitree_z1_dual_arm_cleanup_pencils/case3/output.log new file mode 100644 index 0000000..2189f6e --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case3/output.log @@ -0,0 +1,111 @@ +2026-02-11 14:34:58.016000: 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`. +2026-02-11 14:34:58.066369: 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 +2026-02-11 14:34:58.066418: 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 +2026-02-11 14:34:58.067763: 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 +2026-02-11 14:34:58.075447: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:34:59.008184: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 25%|██▌ | 2/8 [01:08<03:25, 34.21s/it] 38%|███▊ | 3/8 [01:42<02:50, 34.18s/it] 50%|█████ | 4/8 [02:16<02:16, 34.16s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.11s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.08s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.09s/it] 100%|██████████| 8/8 [04:32<00:00, 34.08s/it] 100%|██████████| 8/8 [04:32<00:00, 34.11s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 5m6.884s +user 4m45.707s +sys 1m4.570s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json new file mode 100644 index 0000000..77c6627 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case3/unitree_z1_dual_arm_cleanup_pencils_case3.mp4", + "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case3/output/inference/100_full_fs4.mp4", + "psnr": 41.260758562627046 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh index 78c56d7..a636a9e 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_cleanup_pencils" --n_iter 8 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/output.log b/unitree_z1_dual_arm_cleanup_pencils/case4/output.log new file mode 100644 index 0000000..d72172b --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case4/output.log @@ -0,0 +1,111 @@ +2026-02-11 14:40:06.781951: 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`. +2026-02-11 14:40:06.832600: 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 +2026-02-11 14:40:06.832649: 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 +2026-02-11 14:40:06.833982: 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 +2026-02-11 14:40:06.841504: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:40:07.772162: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 25%|██▌ | 2/8 [01:08<03:25, 34.26s/it] 38%|███▊ | 3/8 [01:42<02:51, 34.23s/it] 50%|█████ | 4/8 [02:16<02:16, 34.20s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.16s/it] 75%|███████▌ | 6/8 [03:25<01:08, 34.14s/it] 88%|████████▊ | 7/8 [03:59<00:34, 34.12s/it] 100%|██████████| 8/8 [04:33<00:00, 34.12s/it] 100%|██████████| 8/8 [04:33<00:00, 34.15s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 5m9.921s +user 4m51.124s +sys 1m0.381s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json new file mode 100644 index 0000000..7496ce2 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case4/unitree_z1_dual_arm_cleanup_pencils_case4.mp4", + "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/200_full_fs4.mp4", + "psnr": 47.046499351779815 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh index 9367c09..7b64959 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_cleanup_pencils" --n_iter 8 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox/case1/output.log b/unitree_z1_dual_arm_stackbox/case1/output.log new file mode 100644 index 0000000..9f3a7a0 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/output.log @@ -0,0 +1,108 @@ +2026-02-11 14:45:16.672502: 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`. +2026-02-11 14:45:16.722666: 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 +2026-02-11 14:45:16.722716: 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 +2026-02-11 14:45:16.724025: 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 +2026-02-11 14:45:16.731562: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:45:17.646917: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 29%|██▊ | 2/7 [01:08<02:50, 34.15s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.13s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.09s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.09s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.09s/it] 100%|██████████| 7/7 [03:58<00:00, 34.08s/it] 100%|██████████| 7/7 [03:58<00:00, 34.09s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 4m38.201s +user 4m24.927s +sys 0m56.965s diff --git a/unitree_z1_dual_arm_stackbox/case1/psnr_result.json b/unitree_z1_dual_arm_stackbox/case1/psnr_result.json new file mode 100644 index 0000000..ee715f8 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox/case1/unitree_z1_dual_arm_stackbox_case1.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox/case1/output/inference/5_full_fs4.mp4", + "psnr": 43.97044934749157 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh index 0d9ed4c..8e88270 100644 --- a/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_stackbox" --n_iter 7 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox/case2/output.log b/unitree_z1_dual_arm_stackbox/case2/output.log new file mode 100644 index 0000000..b78bbdc --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case2/output.log @@ -0,0 +1,108 @@ +2026-02-11 14:49:54.901507: 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`. +2026-02-11 14:49:54.951975: 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 +2026-02-11 14:49:54.952023: 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 +2026-02-11 14:49:54.953338: 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 +2026-02-11 14:49:54.960938: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:49:55.888131: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 29%|██▊ | 2/7 [01:08<02:51, 34.26s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.25s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.22s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.17s/it] 86%|████████▌ | 6/7 [03:25<00:34, 34.13s/it] 100%|██████████| 7/7 [03:59<00:00, 34.11s/it] 100%|██████████| 7/7 [03:59<00:00, 34.16s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 4m38.161s +user 4m26.060s +sys 0m55.500s diff --git a/unitree_z1_dual_arm_stackbox/case2/psnr_result.json b/unitree_z1_dual_arm_stackbox/case2/psnr_result.json new file mode 100644 index 0000000..c296d86 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox/case2/unitree_z1_dual_arm_stackbox_case2.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox/case2/output/inference/15_full_fs4.mp4", + "psnr": 43.70773432165555 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh index 7b6d005..2d608d7 100644 --- a/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_stackbox" --n_iter 7 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox/case3/output.log b/unitree_z1_dual_arm_stackbox/case3/output.log new file mode 100644 index 0000000..a425c3c --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case3/output.log @@ -0,0 +1,108 @@ +2026-02-11 14:54:33.079012: 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`. +2026-02-11 14:54:33.128851: 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 +2026-02-11 14:54:33.128900: 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 +2026-02-11 14:54:33.130229: 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 +2026-02-11 14:54:33.137786: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:54:34.065218: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 29%|██▊ | 2/7 [01:08<02:51, 34.24s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.25s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.17s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.13s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.11s/it] 100%|██████████| 7/7 [03:58<00:00, 34.09s/it] 100%|██████████| 7/7 [03:58<00:00, 34.13s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 4m38.699s +user 4m22.748s +sys 0m59.172s diff --git a/unitree_z1_dual_arm_stackbox/case3/psnr_result.json b/unitree_z1_dual_arm_stackbox/case3/psnr_result.json new file mode 100644 index 0000000..6dd2c11 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox/case3/unitree_z1_dual_arm_stackbox_case3.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox/case3/output/inference/25_full_fs4.mp4", + "psnr": 48.68206289825236 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh index 1058f25..b8eebda 100644 --- a/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_stackbox" --n_iter 7 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox/case4/output.log b/unitree_z1_dual_arm_stackbox/case4/output.log new file mode 100644 index 0000000..d16fb4e --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case4/output.log @@ -0,0 +1,108 @@ +2026-02-11 14:59:11.849320: 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`. +2026-02-11 14:59:11.899274: 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 +2026-02-11 14:59:11.899322: 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 +2026-02-11 14:59:11.900640: 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 +2026-02-11 14:59:11.908158: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 14:59:12.830387: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 29%|██▊ | 2/7 [01:08<02:50, 34.17s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.13s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.12s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.07s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.07s/it] 100%|██████████| 7/7 [03:58<00:00, 34.06s/it] 100%|██████████| 7/7 [03:58<00:00, 34.09s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 4m37.807s +user 4m20.430s +sys 1m0.548s diff --git a/unitree_z1_dual_arm_stackbox/case4/psnr_result.json b/unitree_z1_dual_arm_stackbox/case4/psnr_result.json new file mode 100644 index 0000000..cd720c1 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox/case4/unitree_z1_dual_arm_stackbox_case4.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox/case4/output/inference/35_full_fs4.mp4", + "psnr": 42.117165235043196 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh index fa46100..13b3049 100644 --- a/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_stackbox" --n_iter 7 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/output.log b/unitree_z1_dual_arm_stackbox_v2/case1/output.log index 6395a97..b666f5a 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case1/output.log +++ b/unitree_z1_dual_arm_stackbox_v2/case1/output.log @@ -1,10 +1,10 @@ -2026-02-11 11:59:27.241485: 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`. -2026-02-11 11:59:27.291755: 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 -2026-02-11 11:59:27.291807: 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 -2026-02-11 11:59:27.293169: 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 -2026-02-11 11:59:27.300838: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 15:03:49.644187: 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`. +2026-02-11 15:03:49.694117: 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 +2026-02-11 15:03:49.694162: 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 +2026-02-11 15:03:49.695456: 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 +2026-02-11 15:03:49.702946: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. -2026-02-11 11:59:28.228009: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 15:03:50.638334: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT Global seed set to 123 >>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... >>> Prepared model loaded. @@ -31,7 +31,7 @@ DEBUG:h5py._conv:Creating converter from 3 to 5 DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 - 0%| | 0/11 [00:00>> Step 0: generating actions ... + 0%| | 0/11 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... @@ -84,7 +84,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 18%|█▊ | 2/11 [01:08<05:07, 34.17s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.16s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.18s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.14s/it] 55%|█████▍ | 6/11 [03:24<02:50, 34.10s/it] 64%|██████▎ | 7/11 [03:58<02:16, 34.07s/it] 73%|███████▎ | 8/11 [04:32<01:42, 34.03s/it] 82%|████████▏ | 9/11 [05:06<01:08, 34.02s/it] 91%|█████████ | 10/11 [05:40<00:34, 34.04s/it] 100%|██████████| 11/11 [06:14<00:00, 34.03s/it] 100%|██████████| 11/11 [06:14<00:00, 34.07s/it] + 18%|█▊ | 2/11 [01:08<05:08, 34.26s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.17s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.15s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.11s/it] 55%|█████▍ | 6/11 [03:24<02:50, 34.09s/it] 64%|██████▎ | 7/11 [03:58<02:16, 34.07s/it] 73%|███████▎ | 8/11 [04:32<01:42, 34.04s/it] 82%|████████▏ | 9/11 [05:06<01:08, 34.05s/it] 91%|█████████ | 10/11 [05:40<00:34, 34.07s/it] 100%|██████████| 11/11 [06:15<00:00, 34.07s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] >>> Step 1: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 2: generating actions ... @@ -115,6 +115,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin >>> Step 10: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> -real 6m51.758s -user 6m23.024s -sys 1m19.488s +real 6m56.031s +user 6m22.485s +sys 1m23.599s diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json index dec481b..96bca2f 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json +++ b/unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json @@ -1,5 +1,5 @@ { - "gt_video": "/home/qhy/unifolm-world-model-action/unitree_z1_dual_arm_stackbox_v2/case1/unitree_z1_dual_arm_stackbox_v2_case1.mp4", - "pred_video": "/home/qhy/unifolm-world-model-action/unitree_z1_dual_arm_stackbox_v2/case1/output/inference/5_full_fs4.mp4", + "gt_video": "unitree_z1_dual_arm_stackbox_v2/case1/unitree_z1_dual_arm_stackbox_v2_case1.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox_v2/case1/output/inference/5_full_fs4.mp4", "psnr": 28.167025381705358 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/output.log b/unitree_z1_dual_arm_stackbox_v2/case2/output.log new file mode 100644 index 0000000..f2e3fd4 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case2/output.log @@ -0,0 +1,120 @@ +2026-02-11 15:10:45.687888: 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`. +2026-02-11 15:10:45.738006: 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 +2026-02-11 15:10:45.738054: 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 +2026-02-11 15:10:45.739410: 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 +2026-02-11 15:10:45.747229: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:10:46.687896: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.26s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.20s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.16s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.15s/it] 55%|█████▍ | 6/11 [03:24<02:50, 34.13s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.13s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.12s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.11s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m56.021s +user 6m14.948s +sys 1m31.364s diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json new file mode 100644 index 0000000..0861440 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox_v2/case2/unitree_z1_dual_arm_stackbox_v2_case2.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox_v2/case2/output/inference/15_full_fs4.mp4", + "psnr": 33.945563782754554 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh index 2c94946..8239dee 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_stackbox_v2" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/output.log b/unitree_z1_dual_arm_stackbox_v2/case3/output.log new file mode 100644 index 0000000..66f479d --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case3/output.log @@ -0,0 +1,120 @@ +2026-02-11 15:17:41.661323: 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`. +2026-02-11 15:17:41.711317: 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 +2026-02-11 15:17:41.711373: 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 +2026-02-11 15:17:41.712706: 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 +2026-02-11 15:17:41.720248: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:17:42.650151: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:08, 34.25s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.23s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.18s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.17s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.15s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.13s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.12s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.09s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m56.873s +user 6m16.064s +sys 1m30.735s diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json new file mode 100644 index 0000000..4bf51b5 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox_v2/case3/unitree_z1_dual_arm_stackbox_v2_case3.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox_v2/case3/output/inference/25_full_fs4.mp4", + "psnr": 31.86126241517472 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh index 6708ee9..dcab7ab 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_stackbox_v2" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/output.log b/unitree_z1_dual_arm_stackbox_v2/case4/output.log new file mode 100644 index 0000000..cd7eea4 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case4/output.log @@ -0,0 +1,120 @@ +2026-02-11 15:24:38.487806: 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`. +2026-02-11 15:24:38.538144: 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 +2026-02-11 15:24:38.538200: 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 +2026-02-11 15:24:38.539554: 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 +2026-02-11 15:24:38.547185: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:24:39.470885: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/11 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 18%|█▊ | 2/11 [01:08<05:09, 34.35s/it] 27%|██▋ | 3/11 [01:42<04:34, 34.33s/it] 36%|███▋ | 4/11 [02:17<03:59, 34.26s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.22s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.18s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.14s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.09s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.15s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 6m57.114s +user 6m21.626s +sys 1m25.160s diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json new file mode 100644 index 0000000..68e4f81 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox_v2/case4/unitree_z1_dual_arm_stackbox_v2_case4.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox_v2/case4/output/inference/35_full_fs4.mp4", + "psnr": 39.90908062249536 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh index 370c1c3..0b396ce 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh +++ b/unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_stackbox_v2" --n_iter 11 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_stackbox/case1/output.log b/unitree_z1_stackbox/case1/output.log new file mode 100644 index 0000000..c45c720 --- /dev/null +++ b/unitree_z1_stackbox/case1/output.log @@ -0,0 +1,123 @@ +2026-02-11 15:31:35.657972: 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`. +2026-02-11 15:31:35.707733: 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 +2026-02-11 15:31:35.707792: 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 +2026-02-11 15:31:35.709109: 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 +2026-02-11 15:31:35.716616: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:31:36.648540: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 17%|█▋ | 2/12 [01:08<05:42, 34.24s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.20s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.19s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.14s/it] 50%|█████ | 6/12 [03:24<03:24, 34.09s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.07s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.07s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.05s/it] 83%|████████▎ | 10/12 [05:41<01:08, 34.06s/it] 92%|█████████▏| 11/12 [06:15<00:34, 34.08s/it] 100%|██████████| 12/12 [06:49<00:00, 34.07s/it] 100%|██████████| 12/12 [06:49<00:00, 34.10s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 7m25.752s +user 6m39.497s +sys 1m32.896s diff --git a/unitree_z1_stackbox/case1/psnr_result.json b/unitree_z1_stackbox/case1/psnr_result.json new file mode 100644 index 0000000..0bb3725 --- /dev/null +++ b/unitree_z1_stackbox/case1/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_stackbox/case1/unitree_z1_stackbox_case1.mp4", + "pred_video": "unitree_z1_stackbox/case1/output/inference/5_full_fs4.mp4", + "psnr": 49.42336701518203 +} \ No newline at end of file diff --git a/unitree_z1_stackbox/case1/run_world_model_interaction.sh b/unitree_z1_stackbox/case1/run_world_model_interaction.sh index 73d9132..346d7a8 100644 --- a/unitree_z1_stackbox/case1/run_world_model_interaction.sh +++ b/unitree_z1_stackbox/case1/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_stackbox" --n_iter 12 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_stackbox/case2/output.log b/unitree_z1_stackbox/case2/output.log new file mode 100644 index 0000000..28b568b --- /dev/null +++ b/unitree_z1_stackbox/case2/output.log @@ -0,0 +1,123 @@ +2026-02-11 15:39:01.409308: 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`. +2026-02-11 15:39:01.459136: 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 +2026-02-11 15:39:01.459190: 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 +2026-02-11 15:39:01.460507: 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 +2026-02-11 15:39:01.468019: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:39:02.395912: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 17%|█▋ | 2/12 [01:08<05:41, 34.18s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.15s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.13s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.09s/it] 50%|█████ | 6/12 [03:24<03:24, 34.08s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.06s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.03s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.03s/it] 83%|████████▎ | 10/12 [05:40<01:08, 34.03s/it] 92%|█████████▏| 11/12 [06:14<00:34, 34.02s/it] 100%|██████████| 12/12 [06:48<00:00, 34.00s/it] 100%|██████████| 12/12 [06:48<00:00, 34.05s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 7m25.895s +user 6m43.188s +sys 1m30.039s diff --git a/unitree_z1_stackbox/case2/psnr_result.json b/unitree_z1_stackbox/case2/psnr_result.json new file mode 100644 index 0000000..227789d --- /dev/null +++ b/unitree_z1_stackbox/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_stackbox/case2/unitree_z1_stackbox_case2.mp4", + "pred_video": "unitree_z1_stackbox/case2/output/inference/15_full_fs4.mp4", + "psnr": 48.88265200549669 +} \ No newline at end of file diff --git a/unitree_z1_stackbox/case2/run_world_model_interaction.sh b/unitree_z1_stackbox/case2/run_world_model_interaction.sh index 95fb33b..1d571e9 100644 --- a/unitree_z1_stackbox/case2/run_world_model_interaction.sh +++ b/unitree_z1_stackbox/case2/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_stackbox" --n_iter 12 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_stackbox/case3/output.log b/unitree_z1_stackbox/case3/output.log new file mode 100644 index 0000000..eab2840 --- /dev/null +++ b/unitree_z1_stackbox/case3/output.log @@ -0,0 +1,123 @@ +2026-02-11 15:46:27.304090: 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`. +2026-02-11 15:46:27.354074: 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 +2026-02-11 15:46:27.354120: 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 +2026-02-11 15:46:27.355468: 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 +2026-02-11 15:46:27.363130: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:46:28.290783: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 17%|█▋ | 2/12 [01:08<05:42, 34.24s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.22s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.16s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.11s/it] 50%|█████ | 6/12 [03:24<03:24, 34.08s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.04s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.02s/it] 75%|███████▌ | 9/12 [05:06<01:41, 33.99s/it] 83%|████████▎ | 10/12 [05:40<01:07, 33.99s/it] 92%|█████████▏| 11/12 [06:14<00:33, 33.97s/it] 100%|██████████| 12/12 [06:48<00:00, 33.96s/it] 100%|██████████| 12/12 [06:48<00:00, 34.04s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 7m25.192s +user 6m39.503s +sys 1m31.823s diff --git a/unitree_z1_stackbox/case3/psnr_result.json b/unitree_z1_stackbox/case3/psnr_result.json new file mode 100644 index 0000000..b1a5655 --- /dev/null +++ b/unitree_z1_stackbox/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_stackbox/case3/unitree_z1_stackbox_case3.mp4", + "pred_video": "unitree_z1_stackbox/case3/output/inference/25_full_fs4.mp4", + "psnr": 50.884297816906816 +} \ No newline at end of file diff --git a/unitree_z1_stackbox/case3/run_world_model_interaction.sh b/unitree_z1_stackbox/case3/run_world_model_interaction.sh index d92501c..c8a6f5d 100644 --- a/unitree_z1_stackbox/case3/run_world_model_interaction.sh +++ b/unitree_z1_stackbox/case3/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_stackbox" --n_iter 12 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_stackbox/case4/output.log b/unitree_z1_stackbox/case4/output.log new file mode 100644 index 0000000..8be2064 --- /dev/null +++ b/unitree_z1_stackbox/case4/output.log @@ -0,0 +1,123 @@ +2026-02-11 15:53:52.504337: 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`. +2026-02-11 15:53:52.554351: 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 +2026-02-11 15:53:52.554397: 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 +2026-02-11 15:53:52.555718: 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 +2026-02-11 15:53:52.563252: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2026-02-11 15:53:53.493343: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +Global seed set to 123 +>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +INFO:root:***** Configing Data ***** +>>> unitree_z1_stackbox: 1 data samples loaded. +>>> unitree_z1_stackbox: data stats loaded. +>>> unitree_z1_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox: data stats loaded. +>>> unitree_z1_dual_arm_stackbox: normalizer initiated. +>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded. +>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded. +>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated. +>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded. +>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated. +>>> unitree_g1_pack_camera: 1 data samples loaded. +>>> unitree_g1_pack_camera: data stats loaded. +>>> unitree_g1_pack_camera: normalizer initiated. +>>> Dataset is successfully loaded ... + ✓ KV fused: 66 attention layers +>>> Generate 16 frames under each generation ... +DEBUG:h5py._conv:Creating converter from 3 to 5 +DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 +DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 +DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 + 0%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +DEBUG:PIL.Image:Importing BlpImagePlugin +DEBUG:PIL.Image:Importing BmpImagePlugin +DEBUG:PIL.Image:Importing BufrStubImagePlugin +DEBUG:PIL.Image:Importing CurImagePlugin +DEBUG:PIL.Image:Importing DcxImagePlugin +DEBUG:PIL.Image:Importing DdsImagePlugin +DEBUG:PIL.Image:Importing EpsImagePlugin +DEBUG:PIL.Image:Importing FitsImagePlugin +DEBUG:PIL.Image:Importing FitsStubImagePlugin +DEBUG:PIL.Image:Importing FliImagePlugin +DEBUG:PIL.Image:Importing FpxImagePlugin +DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing FtexImagePlugin +DEBUG:PIL.Image:Importing GbrImagePlugin +DEBUG:PIL.Image:Importing GifImagePlugin +DEBUG:PIL.Image:Importing GribStubImagePlugin +DEBUG:PIL.Image:Importing Hdf5StubImagePlugin +DEBUG:PIL.Image:Importing IcnsImagePlugin +DEBUG:PIL.Image:Importing IcoImagePlugin +DEBUG:PIL.Image:Importing ImImagePlugin +DEBUG:PIL.Image:Importing ImtImagePlugin +DEBUG:PIL.Image:Importing IptcImagePlugin +DEBUG:PIL.Image:Importing JpegImagePlugin +DEBUG:PIL.Image:Importing Jpeg2KImagePlugin +DEBUG:PIL.Image:Importing McIdasImagePlugin +DEBUG:PIL.Image:Importing MicImagePlugin +DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile' +DEBUG:PIL.Image:Importing MpegImagePlugin +DEBUG:PIL.Image:Importing MpoImagePlugin +DEBUG:PIL.Image:Importing MspImagePlugin +DEBUG:PIL.Image:Importing PalmImagePlugin +DEBUG:PIL.Image:Importing PcdImagePlugin +DEBUG:PIL.Image:Importing PcxImagePlugin +DEBUG:PIL.Image:Importing PdfImagePlugin +DEBUG:PIL.Image:Importing PixarImagePlugin +DEBUG:PIL.Image:Importing PngImagePlugin +DEBUG:PIL.Image:Importing PpmImagePlugin +DEBUG:PIL.Image:Importing PsdImagePlugin +DEBUG:PIL.Image:Importing QoiImagePlugin +DEBUG:PIL.Image:Importing SgiImagePlugin +DEBUG:PIL.Image:Importing SpiderImagePlugin +DEBUG:PIL.Image:Importing SunImagePlugin +DEBUG:PIL.Image:Importing TgaImagePlugin +DEBUG:PIL.Image:Importing TiffImagePlugin +DEBUG:PIL.Image:Importing WebPImagePlugin +DEBUG:PIL.Image:Importing WmfImagePlugin +DEBUG:PIL.Image:Importing XbmImagePlugin +DEBUG:PIL.Image:Importing XpmImagePlugin +DEBUG:PIL.Image:Importing XVThumbImagePlugin + 17%|█▋ | 2/12 [01:08<05:41, 34.19s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.15s/it] 33%|███▎ | 4/12 [02:16<04:32, 34.12s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.09s/it] 50%|█████ | 6/12 [03:24<03:24, 34.05s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.03s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.04s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.03s/it] 83%|████████▎ | 10/12 [05:40<01:08, 34.01s/it] 92%|█████████▏| 11/12 [06:14<00:34, 34.03s/it] 100%|██████████| 12/12 [06:48<00:00, 34.02s/it] 100%|██████████| 12/12 [06:48<00:00, 34.05s/it] +>>> Step 1: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 2: generating actions ... +>>> Step 2: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 3: generating actions ... +>>> Step 3: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 4: generating actions ... +>>> Step 4: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 5: generating actions ... +>>> Step 5: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 6: generating actions ... +>>> Step 6: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 7: generating actions ... +>>> Step 7: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 8: generating actions ... +>>> Step 8: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 9: generating actions ... +>>> Step 9: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 10: generating actions ... +>>> Step 10: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> + +real 7m25.114s +user 6m35.463s +sys 1m35.788s diff --git a/unitree_z1_stackbox/case4/psnr_result.json b/unitree_z1_stackbox/case4/psnr_result.json new file mode 100644 index 0000000..d7babf9 --- /dev/null +++ b/unitree_z1_stackbox/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_stackbox/case4/unitree_z1_stackbox_case4.mp4", + "pred_video": "unitree_z1_stackbox/case4/output/inference/35_full_fs4.mp4", + "psnr": 47.85197517791449 +} \ No newline at end of file diff --git a/unitree_z1_stackbox/case4/run_world_model_interaction.sh b/unitree_z1_stackbox/case4/run_world_model_interaction.sh index 054b175..f3e44ba 100644 --- a/unitree_z1_stackbox/case4/run_world_model_interaction.sh +++ b/unitree_z1_stackbox/case4/run_world_model_interaction.sh @@ -20,5 +20,6 @@ dataset="unitree_z1_stackbox" --n_iter 12 \ --timestep_spacing 'uniform_trailing' \ --guidance_rescale 0.7 \ - --perframe_ae + --perframe_ae \ + --fast_policy_no_decode } 2>&1 | tee "${res_dir}/output.log"