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DDIM loop 内小张量分配优化，attention mask 缓存到 GPU

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olivame
2026-02-08 14:20:48 +00:00
parent e588182642
commit 75c798ded0
3 changed files with 44 additions and 43 deletions
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24
unitree_z1_dual_arm_cleanup_pencils/case1/output.log
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@@ -1,12 +1,12 @@
2026-02-08 12:22:55.885867: 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`.
2026-02-08 12:22:55.890510: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-08 12:22:55.938683: 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
2026-02-08 12:22:55.938759: 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
2026-02-08 12:22:55.941091: 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
2026-02-08 12:22:55.952450: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-08 12:22:55.952933: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
2026-02-08 13:59:02.578826: 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`.
2026-02-08 13:59:02.581891: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-08 13:59:02.613088: 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
2026-02-08 13:59:02.613125: 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
2026-02-08 13:59:02.614961: 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
2026-02-08 13:59:02.623180: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
2026-02-08 13:59:02.623460: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
2026-02-08 12:22:56.593653: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
2026-02-08 13:59:03.306638: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
[rank: 0] Global seed set to 123
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
@@ -115,7 +115,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing XbmImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
12%|█▎ | 1/8 [01:24<09:54, 84.90s/it]
25%|██▌ | 2/8 [02:49<08:27, 84.55s/it]
@@ -139,6 +139,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
>>> Step 4: generating actions ...
>>> Step 4: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>