成功的尝试
This commit is contained in:
179
unitree_g1_pack_camera/case1/output.log
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179
unitree_g1_pack_camera/case1/output.log
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2026-02-18 19:01:56.891895: 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`.
|
||||
2026-02-18 19:01:56.940243: 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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2026-02-18 19:01:56.940285: 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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2026-02-18 19:01:56.941395: 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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2026-02-18 19:01:56.948327: 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.
|
||||
2026-02-18 19:01:57.870809: 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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TRT output 'y': [1, 4, 16, 40, 64] torch.float32
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TRT output 'hs_a_0': [1, 16, 320, 40, 64] torch.float32
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TRT output 'hs_a_1': [1, 16, 640, 20, 32] torch.float32
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TRT output 'hs_a_2': [1, 16, 1280, 10, 16] torch.float32
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TRT output 'hs_a_3': [1, 16, 1280, 5, 8] torch.float32
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TRT output 'hs_a_4': [1, 16, 1280, 5, 8] torch.float32
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TRT output 'hs_a_5': [1, 16, 1280, 5, 8] torch.float32
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TRT output 'hs_a_6': [1, 16, 1280, 10, 16] torch.float32
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TRT output 'hs_a_7': [1, 16, 640, 20, 32] torch.float32
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TRT output 'hs_a_8': [1, 16, 320, 40, 64] torch.float32
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>>> TRT backbone loaded from /home/qhy/unifolm-world-model-action/scripts/evaluation/../../trt_engines/video_backbone.engine
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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%| | 0/11 [00:00<?, ?it/s][02/18/2026-19:02:10] [TRT] [W] Using default stream in enqueueV3() may lead to performance issues due to additional calls to cudaStreamSynchronize() by TensorRT to ensure correct synchronization. Please use non-default stream instead.
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9%|▉ | 1/11 [00:17<02:51, 17.15s/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 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 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 CurImagePlugin
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DEBUG:PIL.Image:Importing DcxImagePlugin
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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 DdsImagePlugin
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DEBUG:PIL.Image:Importing EpsImagePlugin
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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 FitsImagePlugin
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
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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 FliImagePlugin
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DEBUG:PIL.Image:Importing FpxImagePlugin
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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 FtexImagePlugin
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DEBUG:PIL.Image:Importing GbrImagePlugin
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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 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 Hdf5StubImagePlugin
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DEBUG:PIL.Image:Importing IcnsImagePlugin
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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 IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
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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 ImtImagePlugin
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DEBUG:PIL.Image:Importing IptcImagePlugin
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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 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: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 MpegImagePlugin
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DEBUG:PIL.Image:Importing MpoImagePlugin
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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 MspImagePlugin
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DEBUG:PIL.Image:Importing PalmImagePlugin
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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 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 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 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 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 QoiImagePlugin
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DEBUG:PIL.Image:Importing SgiImagePlugin
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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 SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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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 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 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 WmfImagePlugin
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DEBUG:PIL.Image:Importing XbmImagePlugin
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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 XpmImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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18%|█▊ | 2/11 [00:33<02:31, 16.87s/it]
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27%|██▋ | 3/11 [00:50<02:14, 16.76s/it]
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36%|███▋ | 4/11 [01:07<01:57, 16.81s/it]
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45%|████▌ | 5/11 [01:24<01:41, 16.85s/it]
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55%|█████▍ | 6/11 [01:41<01:24, 16.82s/it]
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64%|██████▎ | 7/11 [01:57<01:07, 16.82s/it]
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73%|███████▎ | 8/11 [02:14<00:50, 16.83s/it]
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82%|████████▏ | 9/11 [02:31<00:33, 16.80s/it]
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91%|█████████ | 10/11 [02:48<00:16, 16.81s/it]
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100%|██████████| 11/11 [03:05<00:00, 16.81s/it]
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100%|██████████| 11/11 [03:05<00:00, 16.83s/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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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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||||
5
unitree_g1_pack_camera/case1/psnr_result.json
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5
unitree_g1_pack_camera/case1/psnr_result.json
Normal file
@@ -0,0 +1,5 @@
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{
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"gt_video": "unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4",
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"pred_video": "unitree_g1_pack_camera/case1/output/inference/0_full_fs6.mp4",
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"psnr": 35.615362167470806
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}
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179
unitree_g1_pack_camera/case2/output.log
Normal file
179
unitree_g1_pack_camera/case2/output.log
Normal file
@@ -0,0 +1,179 @@
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2026-02-18 19:05:45.956647: 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`.
|
||||
2026-02-18 19:05:46.004149: 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
|
||||
2026-02-18 19:05:46.004193: 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
|
||||
2026-02-18 19:05:46.005265: 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
|
||||
2026-02-18 19:05:46.012074: 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.
|
||||
2026-02-18 19:05:46.932966: 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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TRT output 'y': [1, 4, 16, 40, 64] torch.float32
|
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TRT output 'hs_a_0': [1, 16, 320, 40, 64] torch.float32
|
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TRT output 'hs_a_1': [1, 16, 640, 20, 32] torch.float32
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TRT output 'hs_a_2': [1, 16, 1280, 10, 16] torch.float32
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TRT output 'hs_a_3': [1, 16, 1280, 5, 8] torch.float32
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TRT output 'hs_a_4': [1, 16, 1280, 5, 8] torch.float32
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TRT output 'hs_a_5': [1, 16, 1280, 5, 8] torch.float32
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||||
TRT output 'hs_a_6': [1, 16, 1280, 10, 16] torch.float32
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TRT output 'hs_a_7': [1, 16, 640, 20, 32] torch.float32
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TRT output 'hs_a_8': [1, 16, 320, 40, 64] torch.float32
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>>> TRT backbone loaded from /home/qhy/unifolm-world-model-action/scripts/evaluation/../../trt_engines/video_backbone.engine
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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%| | 0/11 [00:00<?, ?it/s][02/18/2026-19:05:59] [TRT] [W] Using default stream in enqueueV3() may lead to performance issues due to additional calls to cudaStreamSynchronize() by TensorRT to ensure correct synchronization. Please use non-default stream instead.
|
||||
|
||||
9%|▉ | 1/11 [00:16<02:47, 16.71s/it]>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
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||||
>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 1: generating actions ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
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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
|
||||
DEBUG:PIL.Image:Importing BmpImagePlugin
|
||||
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing CurImagePlugin
|
||||
DEBUG:PIL.Image:Importing CurImagePlugin
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||||
DEBUG:PIL.Image:Importing DcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing DcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing DdsImagePlugin
|
||||
DEBUG:PIL.Image:Importing DdsImagePlugin
|
||||
DEBUG:PIL.Image:Importing EpsImagePlugin
|
||||
DEBUG:PIL.Image:Importing EpsImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing FliImagePlugin
|
||||
DEBUG:PIL.Image:Importing FliImagePlugin
|
||||
DEBUG:PIL.Image:Importing FpxImagePlugin
|
||||
DEBUG:PIL.Image:Importing FpxImagePlugin
|
||||
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 FtexImagePlugin
|
||||
DEBUG:PIL.Image:Importing GbrImagePlugin
|
||||
DEBUG:PIL.Image:Importing GbrImagePlugin
|
||||
DEBUG:PIL.Image:Importing GifImagePlugin
|
||||
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing GifImagePlugin
|
||||
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
||||
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcoImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcoImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImtImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImtImagePlugin
|
||||
DEBUG:PIL.Image:Importing IptcImagePlugin
|
||||
DEBUG:PIL.Image:Importing IptcImagePlugin
|
||||
DEBUG:PIL.Image:Importing JpegImagePlugin
|
||||
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
||||
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
||||
DEBUG:PIL.Image:Importing JpegImagePlugin
|
||||
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
||||
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
||||
DEBUG:PIL.Image:Importing MicImagePlugin
|
||||
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 MpegImagePlugin
|
||||
DEBUG:PIL.Image:Importing MpoImagePlugin
|
||||
DEBUG:PIL.Image:Importing MpoImagePlugin
|
||||
DEBUG:PIL.Image:Importing MspImagePlugin
|
||||
DEBUG:PIL.Image:Importing MspImagePlugin
|
||||
DEBUG:PIL.Image:Importing PalmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PalmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcdImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcdImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||
DEBUG:PIL.Image:Importing WebPImagePlugin
|
||||
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||
DEBUG:PIL.Image:Importing WebPImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
18%|█▊ | 2/11 [00:33<02:30, 16.75s/it]
|
||||
27%|██▋ | 3/11 [00:50<02:15, 16.91s/it]
|
||||
36%|███▋ | 4/11 [01:07<01:59, 17.02s/it]
|
||||
45%|████▌ | 5/11 [01:24<01:41, 16.98s/it]
|
||||
55%|█████▍ | 6/11 [01:41<01:24, 16.94s/it]
|
||||
64%|██████▎ | 7/11 [01:58<01:07, 16.90s/it]
|
||||
73%|███████▎ | 8/11 [02:15<00:50, 16.83s/it]
|
||||
82%|████████▏ | 9/11 [02:31<00:33, 16.80s/it]
|
||||
91%|█████████ | 10/11 [02:49<00:16, 16.94s/it]
|
||||
100%|██████████| 11/11 [03:06<00:00, 16.97s/it]
|
||||
100%|██████████| 11/11 [03:06<00:00, 16.91s/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 ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
5
unitree_g1_pack_camera/case2/psnr_result.json
Normal file
5
unitree_g1_pack_camera/case2/psnr_result.json
Normal file
@@ -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": 34.61979248212279
|
||||
}
|
||||
146
unitree_g1_pack_camera/case3/output.log
Normal file
146
unitree_g1_pack_camera/case3/output.log
Normal file
@@ -0,0 +1,146 @@
|
||||
2026-02-18 19:09:35.113634: 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`.
|
||||
2026-02-18 19:09:35.161428: 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
|
||||
2026-02-18 19:09:35.161474: 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
|
||||
2026-02-18 19:09:35.162551: 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
|
||||
2026-02-18 19:09:35.169325: 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.
|
||||
2026-02-18 19:09:36.089250: 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
|
||||
TRT output 'y': [1, 4, 16, 40, 64] torch.float32
|
||||
TRT output 'hs_a_0': [1, 16, 320, 40, 64] torch.float32
|
||||
TRT output 'hs_a_1': [1, 16, 640, 20, 32] torch.float32
|
||||
TRT output 'hs_a_2': [1, 16, 1280, 10, 16] torch.float32
|
||||
TRT output 'hs_a_3': [1, 16, 1280, 5, 8] torch.float32
|
||||
TRT output 'hs_a_4': [1, 16, 1280, 5, 8] torch.float32
|
||||
TRT output 'hs_a_5': [1, 16, 1280, 5, 8] torch.float32
|
||||
TRT output 'hs_a_6': [1, 16, 1280, 10, 16] torch.float32
|
||||
TRT output 'hs_a_7': [1, 16, 640, 20, 32] torch.float32
|
||||
TRT output 'hs_a_8': [1, 16, 320, 40, 64] torch.float32
|
||||
>>> TRT backbone loaded from /home/qhy/unifolm-world-model-action/scripts/evaluation/../../trt_engines/video_backbone.engine
|
||||
>>> 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<?, ?it/s][02/18/2026-19:09:49] [TRT] [W] Using default stream in enqueueV3() may lead to performance issues due to additional calls to cudaStreamSynchronize() by TensorRT to ensure correct synchronization. Please use non-default stream instead.
|
||||
|
||||
9%|▉ | 1/11 [00:16<02:45, 16.53s/it]>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 1: generating actions ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
DEBUG:PIL.Image:Importing BmpImagePlugin
|
||||
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing BmpImagePlugin
|
||||
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing CurImagePlugin
|
||||
DEBUG:PIL.Image:Importing CurImagePlugin
|
||||
DEBUG:PIL.Image:Importing DcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing DcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing DdsImagePlugin
|
||||
DEBUG:PIL.Image:Importing DdsImagePlugin
|
||||
DEBUG:PIL.Image:Importing EpsImagePlugin
|
||||
DEBUG:PIL.Image:Importing EpsImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing FliImagePlugin
|
||||
DEBUG:PIL.Image:Importing FliImagePlugin
|
||||
DEBUG:PIL.Image:Importing FpxImagePlugin
|
||||
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 FtexImagePlugin
|
||||
DEBUG:PIL.Image:Importing GbrImagePlugin
|
||||
DEBUG:PIL.Image:Importing GbrImagePlugin
|
||||
DEBUG:PIL.Image:Importing GifImagePlugin
|
||||
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing GifImagePlugin
|
||||
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
||||
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcoImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcoImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImtImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImtImagePlugin
|
||||
DEBUG:PIL.Image:Importing IptcImagePlugin
|
||||
DEBUG:PIL.Image:Importing IptcImagePlugin
|
||||
DEBUG:PIL.Image:Importing JpegImagePlugin
|
||||
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
||||
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
||||
DEBUG:PIL.Image:Importing JpegImagePlugin
|
||||
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
||||
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
||||
DEBUG:PIL.Image:Importing MicImagePlugin
|
||||
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 MpegImagePlugin
|
||||
DEBUG:PIL.Image:Importing MpoImagePlugin
|
||||
DEBUG:PIL.Image:Importing MpoImagePlugin
|
||||
DEBUG:PIL.Image:Importing MspImagePlugin
|
||||
DEBUG:PIL.Image:Importing MspImagePlugin
|
||||
DEBUG:PIL.Image:Importing PalmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PalmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcdImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcdImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||
DEBUG:PIL.Image:Importing WebPImagePlugin
|
||||
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||
DEBUG:PIL.Image:Importing WebPImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
5
unitree_g1_pack_camera/case3/psnr_result.json
Normal file
5
unitree_g1_pack_camera/case3/psnr_result.json
Normal file
@@ -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": 37.034952654534486
|
||||
}
|
||||
5
unitree_g1_pack_camera/case4/psnr_result.json
Normal file
5
unitree_g1_pack_camera/case4/psnr_result.json
Normal file
@@ -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": 31.43390896360405
|
||||
}
|
||||
Reference in New Issue
Block a user