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每步迭代保存异步

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qhy
2026-02-10 19:54:53 +08:00
parent bf4d66c874
commit afa12ba031
4 changed files with 121 additions and 49 deletions
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41
unitree_z1_dual_arm_stackbox_v2/case1/output.log
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@@ -1,24 +1,13 @@
2026-02-10 17:39:22.590654: 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`.
2026-02-10 17:39:22.640645: 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
2026-02-10 17:39:22.640689: 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
2026-02-10 17:39:22.642010: 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
2026-02-10 17:39:22.649530: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
2026-02-10 19:43:34.679819: 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`.
2026-02-10 19:43:34.729245: 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
2026-02-10 19:43:34.729298: 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
2026-02-10 19:43:34.730600: 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
2026-02-10 19:43:34.738078: 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.
2026-02-10 17:39:23.575804: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
2026-02-10 19:43:35.659490: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
Global seed set to 123
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
INFO:root:Loaded ViT-H-14 model config.
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
INFO:root:Loaded ViT-H-14 model config.
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
>>> model checkpoint loaded.
>>> Load pre-trained model ...
>>> 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.
@@ -41,8 +30,10 @@ 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]
9%|▉ | 1/11 [00:33<05:38, 33.86s/it]>>> Step 0: generating actions ...
>>> Step 0: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 1: generating actions ...
DEBUG:PIL.Image:Importing BlpImagePlugin
@@ -92,9 +83,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing WebPImagePlugin
DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing XbmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
9%|▉ | 1/11 [00:35<05:55, 35.52s/it]
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
18%|█▊ | 2/11 [01:08<05:06, 34.03s/it]
@@ -125,6 +114,6 @@ 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 ...
>>>>>>>>>>>>>>>>>>>>>>>>