主干部分fp16,最敏感psnr=25.21,可以考虑对主干部分太敏感的部分回退fp32
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111
unitree_z1_dual_arm_cleanup_pencils/case2/output.log
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unitree_z1_dual_arm_cleanup_pencils/case2/output.log
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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`.
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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
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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
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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
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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.
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To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
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2026-02-11 14:29:52.899745: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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Global seed set to 123
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>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Prepared model loaded.
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INFO:root:***** Configing Data *****
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>>> unitree_z1_stackbox: 1 data samples loaded.
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>>> unitree_z1_stackbox: data stats loaded.
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>>> unitree_z1_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
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>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
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>>> unitree_g1_pack_camera: 1 data samples loaded.
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>>> unitree_g1_pack_camera: data stats loaded.
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>>> unitree_g1_pack_camera: normalizer initiated.
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>>> Dataset is successfully loaded ...
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✓ KV fused: 66 attention layers
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>>> Generate 16 frames under each generation ...
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DEBUG:h5py._conv:Creating converter from 3 to 5
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DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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0%| | 0/8 [00:00<?, ?it/s]
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12%|█▎ | 1/8 [00:34<03:59, 34.22s/it]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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DEBUG:PIL.Image:Importing BlpImagePlugin
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DEBUG:PIL.Image:Importing BmpImagePlugin
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DEBUG:PIL.Image:Importing BufrStubImagePlugin
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DEBUG:PIL.Image:Importing CurImagePlugin
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DEBUG:PIL.Image:Importing DcxImagePlugin
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DEBUG:PIL.Image:Importing DdsImagePlugin
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DEBUG:PIL.Image:Importing EpsImagePlugin
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DEBUG:PIL.Image:Importing FitsImagePlugin
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
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DEBUG:PIL.Image:Importing FliImagePlugin
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DEBUG:PIL.Image:Importing FpxImagePlugin
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing FtexImagePlugin
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DEBUG:PIL.Image:Importing GbrImagePlugin
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DEBUG:PIL.Image:Importing GifImagePlugin
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DEBUG:PIL.Image:Importing GribStubImagePlugin
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DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
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DEBUG:PIL.Image:Importing IcnsImagePlugin
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
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DEBUG:PIL.Image:Importing ImtImagePlugin
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DEBUG:PIL.Image:Importing IptcImagePlugin
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DEBUG:PIL.Image:Importing JpegImagePlugin
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DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
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DEBUG:PIL.Image:Importing McIdasImagePlugin
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DEBUG:PIL.Image:Importing MicImagePlugin
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing MpegImagePlugin
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DEBUG:PIL.Image:Importing MpoImagePlugin
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DEBUG:PIL.Image:Importing MspImagePlugin
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DEBUG:PIL.Image:Importing PalmImagePlugin
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DEBUG:PIL.Image:Importing PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PixarImagePlugin
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DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing PpmImagePlugin
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DEBUG:PIL.Image:Importing PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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DEBUG:PIL.Image:Importing SgiImagePlugin
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DEBUG:PIL.Image:Importing SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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DEBUG:PIL.Image:Importing TgaImagePlugin
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DEBUG:PIL.Image:Importing TiffImagePlugin
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DEBUG:PIL.Image:Importing WebPImagePlugin
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DEBUG:PIL.Image:Importing WmfImagePlugin
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DEBUG:PIL.Image:Importing XbmImagePlugin
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DEBUG:PIL.Image:Importing XpmImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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25%|██▌ | 2/8 [01:08<03:25, 34.24s/it]
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38%|███▊ | 3/8 [01:42<02:51, 34.21s/it]
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50%|█████ | 4/8 [02:16<02:16, 34.18s/it]
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62%|██████▎ | 5/8 [02:50<01:42, 34.15s/it]
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75%|███████▌ | 6/8 [03:24<01:08, 34.11s/it]
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88%|████████▊ | 7/8 [03:58<00:34, 34.10s/it]
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100%|██████████| 8/8 [04:32<00:00, 34.07s/it]
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100%|██████████| 8/8 [04:32<00:00, 34.12s/it]
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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@@ -0,0 +1,5 @@
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{
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"gt_video": "unitree_z1_dual_arm_cleanup_pencils/case2/unitree_z1_dual_arm_cleanup_pencils_case2.mp4",
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"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/50_full_fs4.mp4",
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"psnr": 47.91455867741451
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}
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@@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
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--n_iter 8 \
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--timestep_spacing 'uniform_trailing' \
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--guidance_rescale 0.7 \
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--perframe_ae
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--perframe_ae \
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--fast_policy_no_decode
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} 2>&1 | tee "${res_dir}/output.log"
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