成功的尝试
This commit is contained in:
2
.gitignore
vendored
2
.gitignore
vendored
@@ -132,3 +132,5 @@ Experiment/log
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*.0
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ckpts/unifolm_wma_dual.ckpt.prepared.pt
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trt_engines/video_backbone.engine
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trt_engines/video_backbone.onnx
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114
run_all_case.sh
Normal file
114
run_all_case.sh
Normal file
@@ -0,0 +1,114 @@
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#!/bin/bash
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# 自动执行所有场景的所有case
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# 总共5个场景，每个场景4个case，共20个case
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# 设置环境变量（离线模式）
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export HF_HUB_OFFLINE=1
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export TRANSFORMERS_OFFLINE=1
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# 颜色定义
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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BLUE='\033[0;34m'
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NC='\033[0m' # No Color
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# 定义所有场景
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SCENARIOS=(
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"unitree_g1_pack_camera"
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"unitree_z1_dual_arm_cleanup_pencils"
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"unitree_z1_dual_arm_stackbox"
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"unitree_z1_dual_arm_stackbox_v2"
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"unitree_z1_stackbox"
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)
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# 定义case数量
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CASES=(1 2 3 4)
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# 记录开始时间
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START_TIME=$(date +%s)
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LOG_FILE="run_all_cases_$(date +%Y%m%d_%H%M%S).log"
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echo -e "${BLUE}========================================${NC}"
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echo -e "${BLUE}开始执行所有场景的case${NC}"
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echo -e "${BLUE}总共: ${#SCENARIOS[@]} 个场景 x ${#CASES[@]} 个case = $((${#SCENARIOS[@]} * ${#CASES[@]})) 个任务${NC}"
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echo -e "${BLUE}日志文件: ${LOG_FILE}${NC}"
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echo -e "${BLUE}========================================${NC}"
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echo ""
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# 初始化计数器
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TOTAL_CASES=$((${#SCENARIOS[@]} * ${#CASES[@]}))
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CURRENT_CASE=0
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SUCCESS_COUNT=0
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FAIL_COUNT=0
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# 记录失败的case
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declare -a FAILED_CASES
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# 遍历所有场景
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for scenario in "${SCENARIOS[@]}"; do
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echo -e "${YELLOW}>>> 场景: ${scenario}${NC}"
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# 遍历所有case
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for case_num in "${CASES[@]}"; do
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CURRENT_CASE=$((CURRENT_CASE + 1))
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case_dir="${scenario}/case${case_num}"
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script_path="${case_dir}/run_world_model_interaction.sh"
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echo -e "${BLUE}[${CURRENT_CASE}/${TOTAL_CASES}] 执行: ${case_dir}${NC}"
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# 检查脚本是否存在
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if [ ! -f "${script_path}" ]; then
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echo -e "${RED}错误: 脚本不存在 ${script_path}${NC}"
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FAIL_COUNT=$((FAIL_COUNT + 1))
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FAILED_CASES+=("${case_dir} (脚本不存在)")
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continue
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fi
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# 执行脚本
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echo "开始时间: $(date '+%Y-%m-%d %H:%M:%S')"
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if bash "${script_path}" >> "${LOG_FILE}" 2>&1; then
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echo -e "${GREEN}✓ 成功: ${case_dir}${NC}"
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SUCCESS_COUNT=$((SUCCESS_COUNT + 1))
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else
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echo -e "${RED}✗ 失败: ${case_dir}${NC}"
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FAIL_COUNT=$((FAIL_COUNT + 1))
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FAILED_CASES+=("${case_dir}")
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fi
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echo "结束时间: $(date '+%Y-%m-%d %H:%M:%S')"
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echo ""
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done
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echo ""
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done
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# 计算总耗时
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END_TIME=$(date +%s)
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DURATION=$((END_TIME - START_TIME))
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HOURS=$((DURATION / 3600))
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MINUTES=$(((DURATION % 3600) / 60))
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SECONDS=$((DURATION % 60))
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# 输出总结
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echo -e "${BLUE}========================================${NC}"
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echo -e "${BLUE}执行完成！${NC}"
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echo -e "${BLUE}========================================${NC}"
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echo -e "总任务数: ${TOTAL_CASES}"
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echo -e "${GREEN}成功: ${SUCCESS_COUNT}${NC}"
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echo -e "${RED}失败: ${FAIL_COUNT}${NC}"
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echo -e "总耗时: ${HOURS}小时 ${MINUTES}分钟 ${SECONDS}秒"
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echo -e "详细日志: ${LOG_FILE}"
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echo ""
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# 如果有失败的case，列出来
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if [ ${FAIL_COUNT} -gt 0 ]; then
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echo -e "${RED}失败的case列表:${NC}"
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for failed_case in "${FAILED_CASES[@]}"; do
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echo -e "${RED} - ${failed_case}${NC}"
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done
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echo ""
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fi
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echo -e "${BLUE}========================================${NC}"
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504
run_all_cases_20260218_190150.log
Normal file
504
run_all_cases_20260218_190150.log
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@@ -0,0 +1,504 @@
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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`.
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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.
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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
|
||||
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
|
||||
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
|
||||
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
|
||||
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
|
||||
DEBUG:PIL.Image:Importing TgaImagePlugin
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||||
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||
DEBUG:PIL.Image:Importing WebPImagePlugin
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||||
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<02:31, 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]
|
||||
82%|████████▏ | 9/11 [02:31<00:33, 16.80s/it]
|
||||
91%|█████████ | 10/11 [02:48<00:16, 16.81s/it]
|
||||
100%|██████████| 11/11 [03:05<00:00, 16.81s/it]
|
||||
100%|██████████| 11/11 [03:05<00:00, 16.83s/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 3m49.072s
|
||||
user 4m16.055s
|
||||
sys 0m44.636s
|
||||
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
|
||||
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][02/18/2026-19:05:59] [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 ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> 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
|
||||
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 ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> 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 3m49.162s
|
||||
user 4m12.814s
|
||||
sys 0m45.565s
|
||||
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
|
||||
61
run_all_psnr.sh
Normal file
61
run_all_psnr.sh
Normal file
@@ -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"
|
||||
@@ -585,6 +585,11 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
|
||||
if isinstance(m, CrossAttention) and m.fuse_kv())
|
||||
print(f" ✓ KV fused: {kv_count} attention layers")
|
||||
|
||||
# Load TRT backbone if engine exists
|
||||
trt_engine_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..', '..', 'trt_engines', 'video_backbone.engine')
|
||||
if os.path.exists(trt_engine_path):
|
||||
model.model.diffusion_model.load_trt_backbone(trt_engine_path)
|
||||
|
||||
# Run over data
|
||||
assert (args.height % 16 == 0) and (
|
||||
args.width % 16
|
||||
|
||||
87
scripts/export_trt.py
Normal file
87
scripts/export_trt.py
Normal file
@@ -0,0 +1,87 @@
|
||||
"""Export video UNet backbone to ONNX, then convert to TensorRT engine.
|
||||
|
||||
Usage:
|
||||
python scripts/export_trt.py \
|
||||
--ckpt ckpts/unifolm_wma_dual.ckpt.prepared.pt \
|
||||
--config configs/inference/world_model_interaction.yaml \
|
||||
--out_dir trt_engines
|
||||
"""
|
||||
|
||||
import os
|
||||
import sys
|
||||
import argparse
|
||||
|
||||
import torch
|
||||
import tensorrt as trt
|
||||
from omegaconf import OmegaConf
|
||||
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', 'src'))
|
||||
from unifolm_wma.utils.utils import instantiate_from_config
|
||||
from unifolm_wma.trt_utils import export_backbone_onnx
|
||||
|
||||
|
||||
def load_model(config_path, ckpt_path):
|
||||
if ckpt_path.endswith('.prepared.pt'):
|
||||
model = torch.load(ckpt_path, map_location='cpu')
|
||||
else:
|
||||
config = OmegaConf.load(config_path)
|
||||
model = instantiate_from_config(config.model)
|
||||
state_dict = torch.load(ckpt_path, map_location='cpu')
|
||||
if 'state_dict' in state_dict:
|
||||
state_dict = state_dict['state_dict']
|
||||
model.load_state_dict(state_dict, strict=False)
|
||||
model.eval().cuda()
|
||||
return model
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument('--ckpt', required=True)
|
||||
parser.add_argument('--config', default='configs/inference/world_model_interaction.yaml')
|
||||
parser.add_argument('--out_dir', default='trt_engines')
|
||||
parser.add_argument('--context_len', type=int, default=95)
|
||||
parser.add_argument('--fp16', action='store_true', default=True)
|
||||
args = parser.parse_args()
|
||||
|
||||
os.makedirs(args.out_dir, exist_ok=True)
|
||||
onnx_path = os.path.join(args.out_dir, 'video_backbone.onnx')
|
||||
engine_path = os.path.join(args.out_dir, 'video_backbone.engine')
|
||||
|
||||
if os.path.exists(onnx_path):
|
||||
print(f">>> ONNX already exists at {onnx_path}, skipping export.")
|
||||
n_outputs = 10
|
||||
else:
|
||||
print(">>> Loading model ...")
|
||||
model = load_model(args.config, args.ckpt)
|
||||
print(">>> Exporting ONNX ...")
|
||||
with torch.no_grad():
|
||||
n_outputs = export_backbone_onnx(model, onnx_path, context_len=args.context_len)
|
||||
del model
|
||||
torch.cuda.empty_cache()
|
||||
|
||||
print(">>> Converting ONNX -> TensorRT engine ...")
|
||||
logger = trt.Logger(trt.Logger.WARNING)
|
||||
builder = trt.Builder(logger)
|
||||
network = builder.create_network(1 << int(trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH))
|
||||
parser = trt.OnnxParser(network, logger)
|
||||
|
||||
if not parser.parse_from_file(os.path.abspath(onnx_path)):
|
||||
for i in range(parser.num_errors):
|
||||
print(f" ONNX parse error: {parser.get_error(i)}")
|
||||
raise RuntimeError("ONNX parsing failed")
|
||||
|
||||
config = builder.create_builder_config()
|
||||
config.set_memory_pool_limit(trt.MemoryPoolType.WORKSPACE, 16 << 30)
|
||||
if args.fp16:
|
||||
config.set_flag(trt.BuilderFlag.FP16)
|
||||
|
||||
engine_bytes = builder.build_serialized_network(network, config)
|
||||
with open(engine_path, 'wb') as f:
|
||||
f.write(engine_bytes)
|
||||
|
||||
print(f"\n>>> Done! Engine saved to {engine_path}")
|
||||
print(f" Outputs: 1 y + {n_outputs - 1} hs_a tensors")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -688,6 +688,7 @@ class WMAModel(nn.Module):
|
||||
# Context precomputation cache
|
||||
self._ctx_cache_enabled = False
|
||||
self._ctx_cache = {}
|
||||
self._trt_backbone = None # TRT engine for video UNet backbone
|
||||
# Reusable CUDA stream for parallel state_unet / action_unet
|
||||
self._state_stream = torch.cuda.Stream()
|
||||
|
||||
@@ -700,6 +701,12 @@ class WMAModel(nn.Module):
|
||||
self.__dict__.update(state)
|
||||
self._state_stream = torch.cuda.Stream()
|
||||
|
||||
def load_trt_backbone(self, engine_path, n_hs_a=9):
|
||||
"""Load a TensorRT engine for the video UNet backbone."""
|
||||
from unifolm_wma.trt_utils import TRTBackbone
|
||||
self._trt_backbone = TRTBackbone(engine_path, n_hs_a=n_hs_a)
|
||||
print(f">>> TRT backbone loaded from {engine_path}")
|
||||
|
||||
def forward(self,
|
||||
x: Tensor,
|
||||
x_action: Tensor,
|
||||
@@ -812,44 +819,50 @@ class WMAModel(nn.Module):
|
||||
fs_embed = fs_embed.repeat_interleave(repeats=t, dim=0)
|
||||
emb = emb + fs_embed
|
||||
|
||||
h = x.type(self.dtype)
|
||||
adapter_idx = 0
|
||||
hs = []
|
||||
hs_a = []
|
||||
for id, module in enumerate(self.input_blocks):
|
||||
h = module(h, emb, context=context, batch_size=b)
|
||||
if id == 0 and self.addition_attention:
|
||||
h = self.init_attn(h, emb, context=context, batch_size=b)
|
||||
# plug-in adapter features
|
||||
if ((id + 1) % 3 == 0) and features_adapter is not None:
|
||||
h = h + features_adapter[adapter_idx]
|
||||
adapter_idx += 1
|
||||
if id != 0:
|
||||
if isinstance(module[0], Downsample):
|
||||
if self._trt_backbone is not None:
|
||||
# TRT path: run backbone via TensorRT engine
|
||||
h_in = x.type(self.dtype).contiguous()
|
||||
y, hs_a = self._trt_backbone(h_in, emb.contiguous(), context.contiguous())
|
||||
else:
|
||||
# PyTorch path: original backbone
|
||||
h = x.type(self.dtype)
|
||||
adapter_idx = 0
|
||||
hs = []
|
||||
hs_a = []
|
||||
for id, module in enumerate(self.input_blocks):
|
||||
h = module(h, emb, context=context, batch_size=b)
|
||||
if id == 0 and self.addition_attention:
|
||||
h = self.init_attn(h, emb, context=context, batch_size=b)
|
||||
# plug-in adapter features
|
||||
if ((id + 1) % 3 == 0) and features_adapter is not None:
|
||||
h = h + features_adapter[adapter_idx]
|
||||
adapter_idx += 1
|
||||
if id != 0:
|
||||
if isinstance(module[0], Downsample):
|
||||
hs_a.append(
|
||||
rearrange(hs[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
hs.append(h)
|
||||
hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
|
||||
|
||||
if features_adapter is not None:
|
||||
assert len(
|
||||
features_adapter) == adapter_idx, 'Wrong features_adapter'
|
||||
h = self.middle_block(h, emb, context=context, batch_size=b)
|
||||
hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
|
||||
|
||||
hs_out = []
|
||||
for module in self.output_blocks:
|
||||
h = torch.cat([h, hs.pop()], dim=1)
|
||||
h = module(h, emb, context=context, batch_size=b)
|
||||
if isinstance(module[-1], Upsample):
|
||||
hs_a.append(
|
||||
rearrange(hs[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
hs.append(h)
|
||||
hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
|
||||
rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
hs_out.append(h)
|
||||
h = h.type(x.dtype)
|
||||
hs_a.append(rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
|
||||
if features_adapter is not None:
|
||||
assert len(
|
||||
features_adapter) == adapter_idx, 'Wrong features_adapter'
|
||||
h = self.middle_block(h, emb, context=context, batch_size=b)
|
||||
hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
|
||||
|
||||
hs_out = []
|
||||
for module in self.output_blocks:
|
||||
h = torch.cat([h, hs.pop()], dim=1)
|
||||
h = module(h, emb, context=context, batch_size=b)
|
||||
if isinstance(module[-1], Upsample):
|
||||
hs_a.append(
|
||||
rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
hs_out.append(h)
|
||||
h = h.type(x.dtype)
|
||||
hs_a.append(rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
|
||||
y = self.out(h)
|
||||
y = rearrange(y, '(b t) c h w -> b c t h w', b=b)
|
||||
y = self.out(h)
|
||||
y = rearrange(y, '(b t) c h w -> b c t h w', b=b)
|
||||
|
||||
if not self.base_model_gen_only:
|
||||
ba, _, _ = x_action.shape
|
||||
|
||||
151
src/unifolm_wma/trt_utils.py
Normal file
151
src/unifolm_wma/trt_utils.py
Normal file
@@ -0,0 +1,151 @@
|
||||
"""TensorRT acceleration utilities for the video UNet backbone."""
|
||||
|
||||
import torch
|
||||
import torch.nn as nn
|
||||
from einops import rearrange
|
||||
from unifolm_wma.modules.networks.wma_model import Downsample, Upsample
|
||||
|
||||
|
||||
class VideoBackboneForExport(nn.Module):
|
||||
"""Wrapper that isolates the video UNet backbone for ONNX export.
|
||||
|
||||
Takes already-preprocessed inputs (after context/time embedding prep)
|
||||
and returns y + hs_a as a flat tuple.
|
||||
"""
|
||||
|
||||
def __init__(self, wma_model):
|
||||
super().__init__()
|
||||
self.input_blocks = wma_model.input_blocks
|
||||
self.middle_block = wma_model.middle_block
|
||||
self.output_blocks = wma_model.output_blocks
|
||||
self.out = wma_model.out
|
||||
self.addition_attention = wma_model.addition_attention
|
||||
if self.addition_attention:
|
||||
self.init_attn = wma_model.init_attn
|
||||
self.dtype = wma_model.dtype
|
||||
|
||||
def forward(self, h, emb, context):
|
||||
t = 16
|
||||
b = 1
|
||||
|
||||
hs = []
|
||||
hs_a = []
|
||||
h = h.type(self.dtype)
|
||||
for id, module in enumerate(self.input_blocks):
|
||||
h = module(h, emb, context=context, batch_size=b)
|
||||
if id == 0 and self.addition_attention:
|
||||
h = self.init_attn(h, emb, context=context, batch_size=b)
|
||||
if id != 0:
|
||||
if isinstance(module[0], Downsample):
|
||||
hs_a.append(rearrange(hs[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
hs.append(h)
|
||||
hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
|
||||
|
||||
h = self.middle_block(h, emb, context=context, batch_size=b)
|
||||
hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
|
||||
|
||||
hs_out = []
|
||||
for module in self.output_blocks:
|
||||
h = torch.cat([h, hs.pop()], dim=1)
|
||||
h = module(h, emb, context=context, batch_size=b)
|
||||
if isinstance(module[-1], Upsample):
|
||||
hs_a.append(rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
hs_out.append(h)
|
||||
hs_a.append(rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
|
||||
|
||||
y = self.out(h.type(h.dtype))
|
||||
y = rearrange(y, '(b t) c h w -> b c t h w', b=b)
|
||||
return (y, *hs_a)
|
||||
|
||||
|
||||
def export_backbone_onnx(model, save_path, context_len=95):
|
||||
wma = model.model.diffusion_model
|
||||
wrapper = VideoBackboneForExport(wma)
|
||||
wrapper.eval().cuda()
|
||||
|
||||
for m in wrapper.modules():
|
||||
if hasattr(m, 'checkpoint'):
|
||||
m.checkpoint = False
|
||||
if hasattr(m, 'use_checkpoint'):
|
||||
m.use_checkpoint = False
|
||||
|
||||
import xformers.ops
|
||||
_orig_mea = xformers.ops.memory_efficient_attention
|
||||
def _sdpa_replacement(q, k, v, attn_bias=None, op=None, **kw):
|
||||
return torch.nn.functional.scaled_dot_product_attention(q, k, v, attn_mask=attn_bias)
|
||||
xformers.ops.memory_efficient_attention = _sdpa_replacement
|
||||
|
||||
BT = 16
|
||||
emb_dim = wma.model_channels * 4
|
||||
ctx_dim = 1024
|
||||
in_ch = wma.in_channels
|
||||
|
||||
dummy_h = torch.randn(BT, in_ch, 40, 64, device='cuda', dtype=torch.float32)
|
||||
dummy_emb = torch.randn(BT, emb_dim, device='cuda', dtype=torch.float32)
|
||||
dummy_ctx = torch.randn(BT, context_len, ctx_dim, device='cuda', dtype=torch.float32)
|
||||
|
||||
with torch.no_grad():
|
||||
outputs = wrapper(dummy_h, dummy_emb, dummy_ctx)
|
||||
n_outputs = len(outputs)
|
||||
print(f">>> Backbone has {n_outputs} outputs (1 y + {n_outputs-1} hs_a)")
|
||||
for i, o in enumerate(outputs):
|
||||
print(f" output[{i}]: {o.shape} {o.dtype}")
|
||||
|
||||
output_names = ['y'] + [f'hs_a_{i}' for i in range(n_outputs - 1)]
|
||||
|
||||
torch.onnx.export(
|
||||
wrapper,
|
||||
(dummy_h, dummy_emb, dummy_ctx),
|
||||
save_path,
|
||||
input_names=['h', 'emb', 'context'],
|
||||
output_names=output_names,
|
||||
opset_version=17,
|
||||
do_constant_folding=True,
|
||||
)
|
||||
print(f">>> ONNX exported to {save_path}")
|
||||
xformers.ops.memory_efficient_attention = _orig_mea
|
||||
return n_outputs
|
||||
|
||||
|
||||
class TRTBackbone:
|
||||
"""TensorRT runtime wrapper for the video UNet backbone."""
|
||||
|
||||
def __init__(self, engine_path, n_hs_a=9):
|
||||
import tensorrt as trt
|
||||
|
||||
self.logger = trt.Logger(trt.Logger.WARNING)
|
||||
with open(engine_path, 'rb') as f:
|
||||
runtime = trt.Runtime(self.logger)
|
||||
self.engine = runtime.deserialize_cuda_engine(f.read())
|
||||
self.context = self.engine.create_execution_context()
|
||||
self.n_hs_a = n_hs_a
|
||||
|
||||
import numpy as np
|
||||
self.output_buffers = {}
|
||||
for i in range(self.engine.num_io_tensors):
|
||||
name = self.engine.get_tensor_name(i)
|
||||
if self.engine.get_tensor_mode(name) == trt.TensorIOMode.OUTPUT:
|
||||
shape = self.engine.get_tensor_shape(name)
|
||||
np_dtype = trt.nptype(self.engine.get_tensor_dtype(name))
|
||||
buf = torch.empty(list(shape), dtype=torch.from_numpy(np.empty(0, dtype=np_dtype)).dtype, device='cuda')
|
||||
self.output_buffers[name] = buf
|
||||
print(f" TRT output '{name}': {list(shape)} {buf.dtype}")
|
||||
|
||||
def __call__(self, h, emb, context):
|
||||
import tensorrt as trt
|
||||
for name, tensor in [('h', h), ('emb', emb), ('context', context)]:
|
||||
expected_dtype = trt.nptype(self.engine.get_tensor_dtype(name))
|
||||
torch_expected = torch.from_numpy(__import__('numpy').empty(0, dtype=expected_dtype)).dtype
|
||||
if tensor.dtype != torch_expected:
|
||||
tensor = tensor.to(torch_expected)
|
||||
self.context.set_tensor_address(name, tensor.contiguous().data_ptr())
|
||||
|
||||
for name, buf in self.output_buffers.items():
|
||||
self.context.set_tensor_address(name, buf.data_ptr())
|
||||
|
||||
self.context.execute_async_v3(torch.cuda.current_stream().cuda_stream)
|
||||
torch.cuda.synchronize()
|
||||
|
||||
y = self.output_buffers['y']
|
||||
hs_a = [self.output_buffers[f'hs_a_{i}'] for i in range(self.n_hs_a)]
|
||||
return y, hs_a
|
||||
179
unitree_g1_pack_camera/case1/output.log
Normal file
179
unitree_g1_pack_camera/case1/output.log
Normal file
@@ -0,0 +1,179 @@
|
||||
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
|
||||
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
|
||||
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
|
||||
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.
|
||||
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
|
||||
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][02/18/2026-19:02:10] [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.
|
||||
|
||||
9%|▉ | 1/11 [00:17<02:51, 17.15s/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
|
||||
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|
||||
DEBUG:PIL.Image:Importing CurImagePlugin
|
||||
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|
||||
DEBUG:PIL.Image:Importing DcxImagePlugin
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing FliImagePlugin
|
||||
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|
||||
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
|
||||
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|
||||
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
||||
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|
||||
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
||||
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|
||||
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
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|
||||
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
|
||||
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|
||||
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<02:31, 16.87s/it]
|
||||
27%|██▋ | 3/11 [00:50<02:14, 16.76s/it]
|
||||
36%|███▋ | 4/11 [01:07<01:57, 16.81s/it]
|
||||
45%|████▌ | 5/11 [01:24<01:41, 16.85s/it]
|
||||
55%|█████▍ | 6/11 [01:41<01:24, 16.82s/it]
|
||||
64%|██████▎ | 7/11 [01:57<01:07, 16.82s/it]
|
||||
73%|███████▎ | 8/11 [02:14<00:50, 16.83s/it]
|
||||
82%|████████▏ | 9/11 [02:31<00:33, 16.80s/it]
|
||||
91%|█████████ | 10/11 [02:48<00:16, 16.81s/it]
|
||||
100%|██████████| 11/11 [03:05<00:00, 16.81s/it]
|
||||
100%|██████████| 11/11 [03:05<00:00, 16.83s/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/case1/psnr_result.json
Normal file
5
unitree_g1_pack_camera/case1/psnr_result.json
Normal file
@@ -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": 35.615362167470806
|
||||
}
|
||||
179
unitree_g1_pack_camera/case2/output.log
Normal file
179
unitree_g1_pack_camera/case2/output.log
Normal file
@@ -0,0 +1,179 @@
|
||||
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
|
||||
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][02/18/2026-19:05:59] [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 ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> 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
|
||||
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
|
||||
}
|
||||
@@ -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": 48.344571927558974
|
||||
}
|
||||
@@ -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": 41.152374490134825
|
||||
}
|
||||
@@ -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": 46.025723557253855
|
||||
}
|
||||
5
unitree_z1_dual_arm_stackbox/case1/psnr_result.json
Normal file
5
unitree_z1_dual_arm_stackbox/case1/psnr_result.json
Normal file
@@ -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": 44.3480149502738
|
||||
}
|
||||
5
unitree_z1_dual_arm_stackbox/case2/psnr_result.json
Normal file
5
unitree_z1_dual_arm_stackbox/case2/psnr_result.json
Normal file
@@ -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": 39.867728254007716
|
||||
}
|
||||
5
unitree_z1_dual_arm_stackbox/case3/psnr_result.json
Normal file
5
unitree_z1_dual_arm_stackbox/case3/psnr_result.json
Normal file
@@ -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": 39.19101039445159
|
||||
}
|
||||
5
unitree_z1_dual_arm_stackbox/case4/psnr_result.json
Normal file
5
unitree_z1_dual_arm_stackbox/case4/psnr_result.json
Normal file
@@ -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": 40.29563315341769
|
||||
}
|
||||
@@ -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 ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -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",
|
||||
"psnr": 28.167025381705358
|
||||
"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": 27.62636266067224
|
||||
}
|
||||
5
unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json
Normal file
5
unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json
Normal file
@@ -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": 33.90444714332389
|
||||
}
|
||||
5
unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json
Normal file
5
unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json
Normal file
@@ -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": 34.50192428908007
|
||||
}
|
||||
179
unitree_z1_dual_arm_stackbox_v2/case4/output.log
Normal file
179
unitree_z1_dual_arm_stackbox_v2/case4/output.log
Normal file
@@ -0,0 +1,179 @@
|
||||
2026-02-18 18:54:56.403136: 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 18:54:56.451144: 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 18:54:56.451189: 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 18:54:56.452312: 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 18:54:56.459281: 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 18:54:57.381032: 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][02/18/2026-18:55:10] [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.
|
||||
|
||||
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
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
18%|█▊ | 2/11 [00:33<02:28, 16.52s/it]
|
||||
27%|██▋ | 3/11 [00:49<02:12, 16.53s/it]
|
||||
36%|███▋ | 4/11 [01:06<01:56, 16.64s/it]
|
||||
45%|████▌ | 5/11 [01:23<01:40, 16.69s/it]
|
||||
55%|█████▍ | 6/11 [01:39<01:23, 16.71s/it]
|
||||
64%|██████▎ | 7/11 [01:56<01:06, 16.68s/it]
|
||||
73%|███████▎ | 8/11 [02:13<00:50, 16.68s/it]
|
||||
82%|████████▏ | 9/11 [02:29<00:33, 16.71s/it]
|
||||
91%|█████████ | 10/11 [02:46<00:16, 16.72s/it]
|
||||
100%|██████████| 11/11 [03:03<00:00, 16.69s/it]
|
||||
100%|██████████| 11/11 [03:03<00:00, 16.67s/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_z1_dual_arm_stackbox_v2/case4/psnr_result.json
Normal file
5
unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json
Normal file
@@ -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": 25.49270910031428
|
||||
}
|
||||
5
unitree_z1_stackbox/case1/psnr_result.json
Normal file
5
unitree_z1_stackbox/case1/psnr_result.json
Normal file
@@ -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": 42.83913947323794
|
||||
}
|
||||
5
unitree_z1_stackbox/case2/psnr_result.json
Normal file
5
unitree_z1_stackbox/case2/psnr_result.json
Normal file
@@ -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": 48.64571989587276
|
||||
}
|
||||
5
unitree_z1_stackbox/case3/psnr_result.json
Normal file
5
unitree_z1_stackbox/case3/psnr_result.json
Normal file
@@ -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": 45.127553229898034
|
||||
}
|
||||
5
unitree_z1_stackbox/case4/psnr_result.json
Normal file
5
unitree_z1_stackbox/case4/psnr_result.json
Normal file
@@ -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": 50.642542240144444
|
||||
}
|
||||
Reference in New Issue
Block a user