From b558856e1e34367efc497a9ce89478f648662289 Mon Sep 17 00:00:00 2001 From: qhy <2728290997@qq.com> Date: Tue, 10 Feb 2026 22:35:45 +0800 Subject: [PATCH] fix bugs --- src/unifolm_wma/modules/networks/wma_model.py | 9 ++ .../case1/output.log | 100 ++---------------- 2 files changed, 16 insertions(+), 93 deletions(-) diff --git a/src/unifolm_wma/modules/networks/wma_model.py b/src/unifolm_wma/modules/networks/wma_model.py index 3244110..8ebb8cc 100644 --- a/src/unifolm_wma/modules/networks/wma_model.py +++ b/src/unifolm_wma/modules/networks/wma_model.py @@ -691,6 +691,15 @@ class WMAModel(nn.Module): # Reusable CUDA stream for parallel state_unet / action_unet self._state_stream = torch.cuda.Stream() + def __getstate__(self): + state = self.__dict__.copy() + state.pop('_state_stream', None) + return state + + def __setstate__(self, state): + self.__dict__.update(state) + self._state_stream = torch.cuda.Stream() + def forward(self, x: Tensor, x_action: Tensor, diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/output.log b/unitree_z1_dual_arm_stackbox_v2/case1/output.log index 7565a8c..8f36532 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case1/output.log +++ b/unitree_z1_dual_arm_stackbox_v2/case1/output.log @@ -1,10 +1,10 @@ -2026-02-10 21:29:54.531726: 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 21:29:54.581091: 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 21:29:54.581133: 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 21:29:54.582445: 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 21:29:54.589984: 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 22:35:08.834827: 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 22:35:08.884699: 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 22:35:08.884743: 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 22:35:08.886076: 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 22:35:08.893623: 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 21:29:55.504855: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-10 22:35:09.824417: 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. @@ -30,90 +30,4 @@ 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>> Step 0: generating actions ... ->>> Step 0: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 1: generating actions ... -DEBUG:PIL.Image:Importing BlpImagePlugin -DEBUG:PIL.Image:Importing BmpImagePlugin -DEBUG:PIL.Image:Importing BufrStubImagePlugin -DEBUG:PIL.Image:Importing CurImagePlugin -DEBUG:PIL.Image:Importing DcxImagePlugin -DEBUG:PIL.Image:Importing DdsImagePlugin -DEBUG:PIL.Image:Importing EpsImagePlugin -DEBUG:PIL.Image:Importing FitsImagePlugin -DEBUG:PIL.Image:Importing FitsStubImagePlugin -DEBUG:PIL.Image:Importing FliImagePlugin -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 GbrImagePlugin -DEBUG:PIL.Image:Importing GifImagePlugin -DEBUG:PIL.Image:Importing GribStubImagePlugin -DEBUG:PIL.Image:Importing Hdf5StubImagePlugin -DEBUG:PIL.Image:Importing IcnsImagePlugin -DEBUG:PIL.Image:Importing IcoImagePlugin -DEBUG:PIL.Image:Importing ImImagePlugin -DEBUG:PIL.Image:Importing ImtImagePlugin -DEBUG:PIL.Image:Importing IptcImagePlugin -DEBUG:PIL.Image:Importing JpegImagePlugin -DEBUG:PIL.Image:Importing Jpeg2KImagePlugin -DEBUG:PIL.Image:Importing McIdasImagePlugin -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 MpoImagePlugin -DEBUG:PIL.Image:Importing MspImagePlugin -DEBUG:PIL.Image:Importing PalmImagePlugin -DEBUG:PIL.Image:Importing PcdImagePlugin -DEBUG:PIL.Image:Importing PcxImagePlugin -DEBUG:PIL.Image:Importing PdfImagePlugin -DEBUG:PIL.Image:Importing PixarImagePlugin -DEBUG:PIL.Image:Importing PngImagePlugin -DEBUG:PIL.Image:Importing PpmImagePlugin -DEBUG:PIL.Image:Importing PsdImagePlugin -DEBUG:PIL.Image:Importing QoiImagePlugin -DEBUG:PIL.Image:Importing SgiImagePlugin -DEBUG:PIL.Image:Importing SpiderImagePlugin -DEBUG:PIL.Image:Importing SunImagePlugin -DEBUG:PIL.Image:Importing TgaImagePlugin -DEBUG:PIL.Image:Importing TiffImagePlugin -DEBUG:PIL.Image:Importing WebPImagePlugin -DEBUG:PIL.Image:Importing WmfImagePlugin -DEBUG:PIL.Image:Importing XbmImagePlugin -DEBUG:PIL.Image:Importing XpmImagePlugin -DEBUG:PIL.Image:Importing XVThumbImagePlugin - 18%|█▊ | 2/11 [01:07<05:04, 33.81s/it] 27%|██▋ | 3/11 [01:41<04:32, 34.02s/it] 36%|███▋ | 4/11 [02:16<03:58, 34.13s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.12s/it] 55%|█████▍ | 6/11 [03:24<02:50, 34.11s/it] 64%|██████▎ | 7/11 [03:58<02:16, 34.10s/it] 73%|███████▎ | 8/11 [04:32<01:42, 34.11s/it] 82%|████████▏ | 9/11 [05:06<01:08, 34.13s/it] 91%|█████████ | 10/11 [05:40<00:34, 34.15s/it] 100%|██████████| 11/11 [06:14<00:00, 34.12s/it] 100%|██████████| 11/11 [06:14<00:00, 34.09s/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 6m50.156s -user 6m25.849s -sys 1m14.933s + 0%| | 0/11 [00:00