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qhy
2026-02-18 19:14:55 +08:00
parent 9a08e27a19
commit 65788be1b3
32 changed files with 1772 additions and 50 deletions
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unitree_z1_dual_arm_stackbox_v2/case1/output.log
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@@ -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.
2026-02-18 18:49:49.117856: 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 18:49:49.165270: 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 18:49:49.165322: 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 18:49:49.166382: 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 18:49:49.173299: 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
2026-02-18 18:49:50.090214: 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.
@@ -26,12 +26,24 @@ INFO:root:***** Configing Data *****
>>> 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][02/18/2026-18:50:03] [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 [00:15<02:38, 15.88s/it]>>> Step 0: generating actions ...
>>> Step 0: interacting with world model ...
@@ -84,7 +96,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing WebPImagePlugin
DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing XbmImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
18%|█▊ | 2/11 [00:31<02:21, 15.71s/it]
@@ -115,6 +127,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
>>> Step 6: generating actions ...
>>> Step 6: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 7: generating actions ...
>>> Step 7: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 7: generating actions ...
>>> Step 7: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>