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优化写入后新的所有结果

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qhy
2026-02-19 20:18:31 +08:00
parent 5e0e21d91b
commit 43ab0f71b0
28 changed files with 1776 additions and 1199 deletions
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unitree_z1_stackbox/case4/output.log
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@@ -1,10 +1,10 @@
2026-02-11 18:59:09.688302: 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 18:59:09.737473: 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 18:59:09.737518: 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 18:59:09.738835: 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 18:59:09.746322: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
2026-02-19 20:12:48.029611: 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`.
2026-02-19 20:12:48.076914: 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
2026-02-19 20:12:48.076957: 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
2026-02-19 20:12:48.077981: 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
2026-02-19 20:12:48.084620: 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 18:59:10.660940: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
2026-02-19 20:12:49.004753: 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.
@@ -34,7 +34,7 @@ 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%| | 0/12 [00:00<?, ?it/s]
8%|▊ | 1/12 [00:24<04:24, 24.06s/it]
17%|█▋ | 2/12 [00:47<03:55, 23.59s/it]
@@ -71,56 +71,7 @@ DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
>>> 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 ...
>>>>>>>>>>>>>>>>>>>>>>>>
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
>>> Step 7: interacting with world model ...
DEBUG:PIL.Image:Importing PpmImagePlugin
DEBUG:PIL.Image:Importing PsdImagePlugin
DEBUG:PIL.Image:Importing QoiImagePlugin
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 8: generating actions ...
>>> Step 8: interacting with world model ...