From d5bec53f61252ca610b73591109ff08b4592f424 Mon Sep 17 00:00:00 2001 From: qhy <2728290997@qq.com> Date: Wed, 11 Feb 2026 19:21:06 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E5=90=8E=E7=9A=84=E5=85=A8?= =?UTF-8?q?=E9=83=A8=E7=BB=93=E6=9E=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .claude/settings.local.json | 3 +- run_all_cases_20260211_173422.log | 37 + run_all_cases_20260211_173635.log | 2388 +++++++++++++++++ run_all_cases_20260211_181733.log | 0 unitree_g1_pack_camera/case1/output.log | 83 +- unitree_g1_pack_camera/case1/psnr_result.json | 2 +- unitree_g1_pack_camera/case2/output.log | 83 +- unitree_g1_pack_camera/case2/psnr_result.json | 2 +- unitree_g1_pack_camera/case3/output.log | 83 +- unitree_g1_pack_camera/case3/psnr_result.json | 2 +- unitree_g1_pack_camera/case4/output.log | 83 +- unitree_g1_pack_camera/case4/psnr_result.json | 2 +- .../case1/output.log | 65 +- .../case1/psnr_result.json | 2 +- .../case2/output.log | 65 +- .../case2/psnr_result.json | 2 +- .../case3/output.log | 65 +- .../case3/psnr_result.json | 2 +- .../case4/output.log | 65 +- .../case4/psnr_result.json | 2 +- unitree_z1_dual_arm_stackbox/case1/output.log | 59 +- .../case1/psnr_result.json | 2 +- unitree_z1_dual_arm_stackbox/case2/output.log | 59 +- .../case2/psnr_result.json | 2 +- unitree_z1_dual_arm_stackbox/case3/output.log | 59 +- .../case3/psnr_result.json | 2 +- unitree_z1_dual_arm_stackbox/case4/output.log | 59 +- .../case4/psnr_result.json | 2 +- .../case1/output.log | 20 +- .../case2/output.log | 83 +- .../case2/psnr_result.json | 2 +- .../case3/output.log | 83 +- .../case3/psnr_result.json | 2 +- .../case4/output.log | 83 +- .../case4/psnr_result.json | 2 +- unitree_z1_stackbox/case1/output.log | 89 +- unitree_z1_stackbox/case1/psnr_result.json | 2 +- unitree_z1_stackbox/case2/output.log | 89 +- unitree_z1_stackbox/case2/psnr_result.json | 2 +- unitree_z1_stackbox/case3/output.log | 89 +- unitree_z1_stackbox/case3/psnr_result.json | 2 +- unitree_z1_stackbox/case4/output.log | 89 +- unitree_z1_stackbox/case4/psnr_result.json | 2 +- 43 files changed, 3201 insertions(+), 718 deletions(-) create mode 100644 run_all_cases_20260211_173422.log create mode 100644 run_all_cases_20260211_173635.log create mode 100644 run_all_cases_20260211_181733.log diff --git a/.claude/settings.local.json b/.claude/settings.local.json index 6b8ffe6..643f09a 100644 --- a/.claude/settings.local.json +++ b/.claude/settings.local.json @@ -14,7 +14,8 @@ "Bash(for scenario in unitree_g1_pack_camera unitree_z1_dual_arm_cleanup_pencils unitree_z1_dual_arm_stackbox unitree_z1_dual_arm_stackbox_v2 unitree_z1_stackbox)", "Bash(do for case in case1 case2 case3 case4)", "Bash(done)", - "Bash(chmod:*)" + "Bash(chmod:*)", + "Bash(ln:*)" ] } } diff --git a/run_all_cases_20260211_173422.log b/run_all_cases_20260211_173422.log new file mode 100644 index 0000000..6a70a39 --- /dev/null +++ b/run_all_cases_20260211_173422.log @@ -0,0 +1,37 @@ +2026-02-11 17:34:29.188470: 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 17:34:29.238296: 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 17:34:29.238342: 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 17:34:29.239649: 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 17:34:29.247152: 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 17:34:30.172640: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... +>>> Prepared model loaded. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 4m50.280s +user 4m45.116s +sys 0m31.988s +2026-02-11 17:41:30.163933: 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 17:41:30.213409: 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 17:41:30.213453: 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 17:41:30.214760: 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 17:41:30.222233: 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 17:41:31.146811: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 4m50.765s +user 4m45.539s +sys 0m32.652s +2026-02-11 17:46:20.925463: 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 17:46:20.976293: 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 17:46:20.976338: 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 17:46:20.977650: 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 17:46:20.985133: 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 17:46:21.909964: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 4m50.697s +user 4m51.595s +sys 0m25.935s +2026-02-11 17:51:11.566934: 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 17:51:11.616260: 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 17:51:11.616305: 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 17:51:11.617626: 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 17:51:11.625103: 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 17:51:12.538539: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 4m49.617s +user 4m40.578s +sys 0m35.722s +2026-02-11 17:56:01.170137: 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 17:56:01.219541: 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 17:56:01.219584: 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 17:56:01.220897: 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 17:56:01.228350: 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 17:56:02.145344: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 3m38.960s +user 3m30.937s +sys 0m31.309s +2026-02-11 17:59:40.132715: 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 17:59:40.183410: 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 17:59:40.183456: 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 17:59:40.184784: 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 17:59:40.192307: 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 17:59:41.105025: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 3m39.248s +user 3m36.031s +sys 0m26.541s +2026-02-11 18:03:19.373691: 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 18:03:19.423144: 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 18:03:19.423201: 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 18:03:19.424504: 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 18:03:19.431968: 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 18:03:20.342432: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 3m39.467s +user 3m40.766s +sys 0m21.794s +2026-02-11 18:06:58.863806: 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 18:06:58.913518: 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 18:06:58.913565: 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 18:06:58.914918: 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 18:06:58.922497: 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 18:06:59.840461: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/8 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 3m39.489s +user 3m42.650s +sys 0m19.945s +2026-02-11 18:10:38.361867: 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 18:10:38.412126: 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 18:10:38.412182: 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 18:10:38.413493: 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 18:10:38.420963: 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 18:10:39.335981: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 3m18.772s +user 3m18.248s +sys 0m22.883s +2026-02-11 18:13:57.132827: 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 18:13:57.182101: 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 18:13:57.182156: 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 18:13:57.183471: 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 18:13:57.190931: 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 18:13:58.104923: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 3m18.892s +user 3m19.749s +sys 0m21.665s +2026-02-11 18:17:16.023670: 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 18:17:16.073206: 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 18:17:16.073251: 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 18:17:16.074552: 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 18:17:16.082033: 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 18:17:16.997362: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 3m19.148s +user 3m23.714s +sys 0m17.343s +2026-02-11 18:20:35.210324: 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 18:20:35.259487: 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 18:20:35.259530: 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 18:20:35.260816: 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 18:20:35.268252: 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 18:20:36.181189: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/7 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 3m19.368s +user 3m20.438s +sys 0m21.006s +2026-02-11 18:23:54.635983: 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 18:23:54.685542: 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 18:23:54.685587: 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 18:23:54.686907: 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 18:23:54.694405: 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 18:23:55.620959: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 4m54.181s +user 4m42.838s +sys 0m37.519s +2026-02-11 18:28:48.801743: 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 18:28:48.852069: 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 18:28:48.852128: 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 18:28:48.853466: 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 18:28:48.861133: 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 18:28:49.784354: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 4m54.281s +user 4m55.521s +sys 0m24.747s +2026-02-11 18:33:43.119091: 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 18:33:43.169099: 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 18:33:43.169143: 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 18:33:43.170444: 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 18:33:43.177944: 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 18:33:44.102499: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 4m54.135s +user 4m50.606s +sys 0m29.626s +2026-02-11 18:38:37.252690: 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 18:38:37.301897: 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 18:38:37.301950: 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 18:38:37.303254: 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 18:38:37.310679: 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 18:38:38.237893: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 4m54.378s +user 4m49.022s +sys 0m30.777s +2026-02-11 18:43:31.592464: 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 18:43:31.641865: 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 18:43:31.641908: 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 18:43:31.643209: 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 18:43:31.650663: 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 18:43:32.564662: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 5m12.679s +user 5m10.272s +sys 0m29.541s +2026-02-11 18:48:44.235405: 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 18:48:44.285138: 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 18:48:44.285181: 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 18:48:44.286531: 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 18:48:44.294141: 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 18:48:45.209453: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 5m12.817s +user 5m5.429s +sys 0m34.879s +2026-02-11 18:53:57.068615: 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 18:53:57.118271: 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 18:53:57.118312: 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 18:53:57.119665: 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 18:53:57.127266: 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 18:53:58.042116: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 5m12.616s +user 5m6.750s +sys 0m32.204s +2026-02-11 18:59:09.688302: 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 18:59:09.737473: 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 18:59:09.737518: 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 18:59:09.738835: 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 18:59:09.746322: 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 18:59:10.660940: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. +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 +>>> 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%| | 0/12 [00:00>> Step 0: generating actions ... +>>> Step 0: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> +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 + +real 5m12.608s +user 5m4.451s +sys 0m35.253s diff --git a/run_all_cases_20260211_181733.log b/run_all_cases_20260211_181733.log new file mode 100644 index 0000000..e69de29 diff --git a/unitree_g1_pack_camera/case1/output.log b/unitree_g1_pack_camera/case1/output.log index 911ce7d..0c12294 100644 --- a/unitree_g1_pack_camera/case1/output.log +++ b/unitree_g1_pack_camera/case1/output.log @@ -1,13 +1,16 @@ -2026-02-11 13:57:30.192579: 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 13:57:30.242090: 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 13:57:30.242134: 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 13:57:30.243443: 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 13:57:30.250963: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 19:14:09.599811: 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 19:14:09.649058: 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 19:14:09.649103: 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 19:14:09.650392: 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 19:14:09.657857: 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 13:57:31.177911: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 19:14:10.584900: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,40 @@ 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 ... + 0%| | 0/11 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,37 +117,7 @@ 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<05:02, 33.64s/it] 27%|██▋ | 3/11 [01:41<04:31, 33.90s/it] 36%|███▋ | 4/11 [02:15<03:58, 34.05s/it] 45%|████▌ | 5/11 [02:49<03:24, 34.07s/it] 55%|█████▍ | 6/11 [03:23<02:50, 34.08s/it] 64%|██████▎ | 7/11 [03:58<02:16, 34.10s/it] 73%|███████▎ | 8/11 [04:32<01:42, 34.12s/it] 82%|████████▏ | 9/11 [05:06<01:08, 34.12s/it] 91%|█████████ | 10/11 [05:40<00:34, 34.11s/it] 100%|██████████| 11/11 [06:14<00:00, 34.10s/it] 100%|██████████| 11/11 [06:14<00:00, 34.04s/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 6m48.347s -user 6m11.434s -sys 1m25.305s +real 4m50.127s +user 4m44.562s +sys 0m32.636s diff --git a/unitree_g1_pack_camera/case1/psnr_result.json b/unitree_g1_pack_camera/case1/psnr_result.json index 09e5cb6..50ee55a 100644 --- a/unitree_g1_pack_camera/case1/psnr_result.json +++ b/unitree_g1_pack_camera/case1/psnr_result.json @@ -1,5 +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": 34.28787704598647 + "psnr": 32.340256576190384 } \ No newline at end of file diff --git a/unitree_g1_pack_camera/case2/output.log b/unitree_g1_pack_camera/case2/output.log index e2f6706..781ad72 100644 --- a/unitree_g1_pack_camera/case2/output.log +++ b/unitree_g1_pack_camera/case2/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:04:18.542839: 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 14:04:18.593447: 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 14:04:18.593492: 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 14:04:18.594810: 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 14:04:18.602331: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 17:41:30.163933: 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 17:41:30.213409: 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 17:41:30.213453: 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 17:41:30.214760: 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 17:41:30.222233: 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 14:04:19.529518: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 17:41:31.146811: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,40 @@ 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 ... + 0%| | 0/11 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 18%|█▊ | 2/11 [01:08<05:08, 34.26s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.23s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.23s/it] 45%|████▌ | 5/11 [02:50<03:25, 34.18s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.18s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.18s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.16s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.15s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.16s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/it] 100%|██████████| 11/11 [06:15<00:00, 34.17s/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 6m49.847s -user 6m14.600s -sys 1m23.898s +real 4m50.765s +user 4m45.539s +sys 0m32.652s diff --git a/unitree_g1_pack_camera/case2/psnr_result.json b/unitree_g1_pack_camera/case2/psnr_result.json index d389db4..67c28bd 100644 --- a/unitree_g1_pack_camera/case2/psnr_result.json +++ b/unitree_g1_pack_camera/case2/psnr_result.json @@ -1,5 +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": 43.756296364111726 + "psnr": 37.49178506869336 } \ No newline at end of file diff --git a/unitree_g1_pack_camera/case3/output.log b/unitree_g1_pack_camera/case3/output.log index 98fc06c..eb79f74 100644 --- a/unitree_g1_pack_camera/case3/output.log +++ b/unitree_g1_pack_camera/case3/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:11:08.388455: 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 14:11:08.437992: 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 14:11:08.438037: 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 14:11:08.439358: 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 14:11:08.446903: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 17:46:20.925463: 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 17:46:20.976293: 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 17:46:20.976338: 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 17:46:20.977650: 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 17:46:20.985133: 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 14:11:09.369764: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 17:46:21.909964: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,40 @@ 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 ... + 0%| | 0/11 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 18%|█▊ | 2/11 [01:08<05:08, 34.25s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.25s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.22s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.20s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.16s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.14s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.11s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.07s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/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 6m48.681s -user 6m14.841s -sys 1m21.562s +real 4m50.697s +user 4m51.595s +sys 0m25.935s diff --git a/unitree_g1_pack_camera/case3/psnr_result.json b/unitree_g1_pack_camera/case3/psnr_result.json index 6e3c26d..21ba7dc 100644 --- a/unitree_g1_pack_camera/case3/psnr_result.json +++ b/unitree_g1_pack_camera/case3/psnr_result.json @@ -1,5 +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": 37.65161306938167 + "psnr": 29.88155122131729 } \ No newline at end of file diff --git a/unitree_g1_pack_camera/case4/output.log b/unitree_g1_pack_camera/case4/output.log index 1067037..f249c0b 100644 --- a/unitree_g1_pack_camera/case4/output.log +++ b/unitree_g1_pack_camera/case4/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:17:57.092085: 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 14:17:57.141607: 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 14:17:57.141661: 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 14:17:57.142984: 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 14:17:57.150517: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 17:51:11.566934: 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 17:51:11.616260: 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 17:51:11.616305: 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 17:51:11.617626: 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 17:51:11.625103: 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 14:17:58.074812: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 17:51:12.538539: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,40 @@ 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 ... + 0%| | 0/11 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 18%|█▊ | 2/11 [01:08<05:08, 34.29s/it] 27%|██▋ | 3/11 [01:42<04:34, 34.25s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.23s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.19s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.17s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.19s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.18s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.16s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.13s/it] 100%|██████████| 11/11 [06:15<00:00, 34.11s/it] 100%|██████████| 11/11 [06:15<00:00, 34.17s/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 6m49.501s -user 6m16.155s -sys 1m21.678s +real 4m49.617s +user 4m40.578s +sys 0m35.722s diff --git a/unitree_g1_pack_camera/case4/psnr_result.json b/unitree_g1_pack_camera/case4/psnr_result.json index c56e37c..d8c1405 100644 --- a/unitree_g1_pack_camera/case4/psnr_result.json +++ b/unitree_g1_pack_camera/case4/psnr_result.json @@ -1,5 +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": 33.205596596179475 + "psnr": 35.62512454155058 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/output.log b/unitree_z1_dual_arm_cleanup_pencils/case1/output.log index c63046e..7c8d73f 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case1/output.log +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:24:46.595601: 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 14:24:46.645554: 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 14:24:46.645598: 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 14:24:46.646935: 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 14:24:46.654595: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 17:56:01.170137: 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 17:56:01.219541: 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 17:56:01.219584: 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 17:56:01.220897: 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 17:56:01.228350: 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 14:24:47.580547: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 17:56:02.145344: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,31 @@ 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%| | 0/8 [00:00>> Step 0: generating actions ... + 0%| | 0/8 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 25%|██▌ | 2/8 [01:08<03:24, 34.15s/it] 38%|███▊ | 3/8 [01:42<02:50, 34.11s/it] 50%|█████ | 4/8 [02:16<02:16, 34.10s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.08s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.09s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.07s/it] 100%|██████████| 8/8 [04:32<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 ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 5m5.299s -user 4m45.465s -sys 1m2.997s +real 3m38.960s +user 3m30.937s +sys 0m31.309s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json index 59c344e..4dba3c3 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json @@ -1,5 +1,5 @@ { "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case1/unitree_z1_dual_arm_cleanup_pencils_case1.mp4", "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/0_full_fs4.mp4", - "psnr": 48.52515070316814 + "psnr": 38.269577028444445 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/output.log b/unitree_z1_dual_arm_cleanup_pencils/case2/output.log index cdfecec..def3910 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case2/output.log +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:29:51.911195: 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 14:29:51.961101: 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 14:29:51.961156: 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 14:29:51.962467: 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 14:29:51.969980: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 17:59:40.132715: 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 17:59:40.183410: 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 17:59:40.183456: 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 17:59:40.184784: 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 17:59:40.192307: 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 14:29:52.899745: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 17:59:41.105025: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,31 @@ 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%| | 0/8 [00:00>> Step 0: generating actions ... + 0%| | 0/8 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 25%|██▌ | 2/8 [01:08<03:25, 34.24s/it] 38%|███▊ | 3/8 [01:42<02:51, 34.21s/it] 50%|█████ | 4/8 [02:16<02:16, 34.18s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.15s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.11s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.10s/it] 100%|██████████| 8/8 [04:32<00:00, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.12s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 5m6.112s -user 4m42.584s -sys 1m6.728s +real 3m39.248s +user 3m36.031s +sys 0m26.541s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json index 38367f2..766fe8c 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json @@ -1,5 +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": 47.91455867741451 + "psnr": 44.38754096950435 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/output.log b/unitree_z1_dual_arm_cleanup_pencils/case3/output.log index 2189f6e..c6973ab 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case3/output.log +++ b/unitree_z1_dual_arm_cleanup_pencils/case3/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:34:58.016000: 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 14:34:58.066369: 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 14:34:58.066418: 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 14:34:58.067763: 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 14:34:58.075447: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:03:19.373691: 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 18:03:19.423144: 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 18:03:19.423201: 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 18:03:19.424504: 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 18:03:19.431968: 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 14:34:59.008184: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:03:20.342432: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,31 @@ 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%| | 0/8 [00:00>> Step 0: generating actions ... + 0%| | 0/8 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 25%|██▌ | 2/8 [01:08<03:25, 34.21s/it] 38%|███▊ | 3/8 [01:42<02:50, 34.18s/it] 50%|█████ | 4/8 [02:16<02:16, 34.16s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.11s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.08s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.09s/it] 100%|██████████| 8/8 [04:32<00:00, 34.08s/it] 100%|██████████| 8/8 [04:32<00:00, 34.11s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 5m6.884s -user 4m45.707s -sys 1m4.570s +real 3m39.467s +user 3m40.766s +sys 0m21.794s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json index 77c6627..953625c 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json +++ b/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json @@ -1,5 +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": 41.260758562627046 + "psnr": 32.29959078097713 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/output.log b/unitree_z1_dual_arm_cleanup_pencils/case4/output.log index d72172b..b9d2c74 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case4/output.log +++ b/unitree_z1_dual_arm_cleanup_pencils/case4/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:40:06.781951: 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 14:40:06.832600: 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 14:40:06.832649: 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 14:40:06.833982: 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 14:40:06.841504: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:06:58.863806: 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 18:06:58.913518: 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 18:06:58.913565: 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 18:06:58.914918: 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 18:06:58.922497: 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 14:40:07.772162: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:06:59.840461: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,31 @@ 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%| | 0/8 [00:00>> Step 0: generating actions ... + 0%| | 0/8 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 25%|██▌ | 2/8 [01:08<03:25, 34.26s/it] 38%|███▊ | 3/8 [01:42<02:51, 34.23s/it] 50%|█████ | 4/8 [02:16<02:16, 34.20s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.16s/it] 75%|███████▌ | 6/8 [03:25<01:08, 34.14s/it] 88%|████████▊ | 7/8 [03:59<00:34, 34.12s/it] 100%|██████████| 8/8 [04:33<00:00, 34.12s/it] 100%|██████████| 8/8 [04:33<00:00, 34.15s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 5m9.921s -user 4m51.124s -sys 1m0.381s +real 3m39.489s +user 3m42.650s +sys 0m19.945s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json index 7496ce2..f3aa234 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json +++ b/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json @@ -1,5 +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": 47.046499351779815 + "psnr": 45.051241961122535 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case1/output.log b/unitree_z1_dual_arm_stackbox/case1/output.log index 9f3a7a0..9bf2016 100644 --- a/unitree_z1_dual_arm_stackbox/case1/output.log +++ b/unitree_z1_dual_arm_stackbox/case1/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:45:16.672502: 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 14:45:16.722666: 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 14:45:16.722716: 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 14:45:16.724025: 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 14:45:16.731562: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:10:38.361867: 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 18:10:38.412126: 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 18:10:38.412182: 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 18:10:38.413493: 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 18:10:38.420963: 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 14:45:17.646917: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:10:39.335981: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,28 @@ 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%| | 0/7 [00:00>> Step 0: generating actions ... + 0%| | 0/7 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 29%|██▊ | 2/7 [01:08<02:50, 34.15s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.13s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.09s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.09s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.09s/it] 100%|██████████| 7/7 [03:58<00:00, 34.08s/it] 100%|██████████| 7/7 [03:58<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 ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 4m38.201s -user 4m24.927s -sys 0m56.965s +real 3m18.772s +user 3m18.248s +sys 0m22.883s diff --git a/unitree_z1_dual_arm_stackbox/case1/psnr_result.json b/unitree_z1_dual_arm_stackbox/case1/psnr_result.json index ee715f8..799fd2a 100644 --- a/unitree_z1_dual_arm_stackbox/case1/psnr_result.json +++ b/unitree_z1_dual_arm_stackbox/case1/psnr_result.json @@ -1,5 +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": 43.97044934749157 + "psnr": 42.717688631296596 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case2/output.log b/unitree_z1_dual_arm_stackbox/case2/output.log index b78bbdc..9d808e4 100644 --- a/unitree_z1_dual_arm_stackbox/case2/output.log +++ b/unitree_z1_dual_arm_stackbox/case2/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:49:54.901507: 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 14:49:54.951975: 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 14:49:54.952023: 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 14:49:54.953338: 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 14:49:54.960938: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:13:57.132827: 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 18:13:57.182101: 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 18:13:57.182156: 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 18:13:57.183471: 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 18:13:57.190931: 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 14:49:55.888131: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:13:58.104923: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,28 @@ 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%| | 0/7 [00:00>> Step 0: generating actions ... + 0%| | 0/7 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 29%|██▊ | 2/7 [01:08<02:51, 34.26s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.25s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.22s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.17s/it] 86%|████████▌ | 6/7 [03:25<00:34, 34.13s/it] 100%|██████████| 7/7 [03:59<00:00, 34.11s/it] 100%|██████████| 7/7 [03:59<00:00, 34.16s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 4m38.161s -user 4m26.060s -sys 0m55.500s +real 3m18.892s +user 3m19.749s +sys 0m21.665s diff --git a/unitree_z1_dual_arm_stackbox/case2/psnr_result.json b/unitree_z1_dual_arm_stackbox/case2/psnr_result.json index c296d86..80d9412 100644 --- a/unitree_z1_dual_arm_stackbox/case2/psnr_result.json +++ b/unitree_z1_dual_arm_stackbox/case2/psnr_result.json @@ -1,5 +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": 43.70773432165555 + "psnr": 44.90750363879194 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case3/output.log b/unitree_z1_dual_arm_stackbox/case3/output.log index a425c3c..c13a10a 100644 --- a/unitree_z1_dual_arm_stackbox/case3/output.log +++ b/unitree_z1_dual_arm_stackbox/case3/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:54:33.079012: 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 14:54:33.128851: 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 14:54:33.128900: 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 14:54:33.130229: 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 14:54:33.137786: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:17:16.023670: 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 18:17:16.073206: 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 18:17:16.073251: 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 18:17:16.074552: 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 18:17:16.082033: 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 14:54:34.065218: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:17:16.997362: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,28 @@ 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%| | 0/7 [00:00>> Step 0: generating actions ... + 0%| | 0/7 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 29%|██▊ | 2/7 [01:08<02:51, 34.24s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.25s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.17s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.13s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.11s/it] 100%|██████████| 7/7 [03:58<00:00, 34.09s/it] 100%|██████████| 7/7 [03:58<00:00, 34.13s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 4m38.699s -user 4m22.748s -sys 0m59.172s +real 3m19.148s +user 3m23.714s +sys 0m17.343s diff --git a/unitree_z1_dual_arm_stackbox/case3/psnr_result.json b/unitree_z1_dual_arm_stackbox/case3/psnr_result.json index 6dd2c11..949d695 100644 --- a/unitree_z1_dual_arm_stackbox/case3/psnr_result.json +++ b/unitree_z1_dual_arm_stackbox/case3/psnr_result.json @@ -1,5 +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": 48.68206289825236 + "psnr": 39.63695040491171 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case4/output.log b/unitree_z1_dual_arm_stackbox/case4/output.log index d16fb4e..530b1a3 100644 --- a/unitree_z1_dual_arm_stackbox/case4/output.log +++ b/unitree_z1_dual_arm_stackbox/case4/output.log @@ -1,13 +1,16 @@ -2026-02-11 14:59:11.849320: 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 14:59:11.899274: 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 14:59:11.899322: 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 14:59:11.900640: 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 14:59:11.908158: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:20:35.210324: 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 18:20:35.259487: 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 18:20:35.259530: 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 18:20:35.260816: 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 18:20:35.268252: 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 14:59:12.830387: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:20:36.181189: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,28 @@ 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%| | 0/7 [00:00>> Step 0: generating actions ... + 0%| | 0/7 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 29%|██▊ | 2/7 [01:08<02:50, 34.17s/it] 43%|████▎ | 3/7 [01:42<02:16, 34.13s/it] 57%|█████▋ | 4/7 [02:16<01:42, 34.12s/it] 71%|███████▏ | 5/7 [02:50<01:08, 34.07s/it] 86%|████████▌ | 6/7 [03:24<00:34, 34.07s/it] 100%|██████████| 7/7 [03:58<00:00, 34.06s/it] 100%|██████████| 7/7 [03:58<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 ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 4m37.807s -user 4m20.430s -sys 1m0.548s +real 3m19.368s +user 3m20.438s +sys 0m21.006s diff --git a/unitree_z1_dual_arm_stackbox/case4/psnr_result.json b/unitree_z1_dual_arm_stackbox/case4/psnr_result.json index cd720c1..f95b8a8 100644 --- a/unitree_z1_dual_arm_stackbox/case4/psnr_result.json +++ b/unitree_z1_dual_arm_stackbox/case4/psnr_result.json @@ -1,5 +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": 42.117165235043196 + "psnr": 42.34177660061245 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/output.log b/unitree_z1_dual_arm_stackbox_v2/case1/output.log index 215fd56..2b574c2 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 @@ -2026-02-11 16:58:21.710140: 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 16:58:21.759418: 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 16:58:21.759461: 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 16:58:21.760752: 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 16:58:21.768205: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:23:54.635983: 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 18:23:54.685542: 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 18:23:54.685587: 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 18:23:54.686907: 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 18:23:54.694405: 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 16:58:22.691154: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:23:55.620959: 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. @@ -34,7 +34,7 @@ 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 ... >>>>>>>>>>>>>>>>>>>>>>>> @@ -118,6 +118,6 @@ DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin -real 4m58.239s -user 4m50.091s -sys 0m32.533s +real 4m54.181s +user 4m42.838s +sys 0m37.519s diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/output.log b/unitree_z1_dual_arm_stackbox_v2/case2/output.log index f2e3fd4..678a6dc 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case2/output.log +++ b/unitree_z1_dual_arm_stackbox_v2/case2/output.log @@ -1,13 +1,16 @@ -2026-02-11 15:10:45.687888: 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 15:10:45.738006: 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 15:10:45.738054: 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 15:10:45.739410: 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 15:10:45.747229: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:28:48.801743: 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 18:28:48.852069: 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 18:28:48.852128: 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 18:28:48.853466: 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 18:28:48.861133: 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 15:10:46.687896: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:28:49.784354: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,40 @@ 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 ... + 0%| | 0/11 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 18%|█▊ | 2/11 [01:08<05:08, 34.26s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.20s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.16s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.15s/it] 55%|█████▍ | 6/11 [03:24<02:50, 34.13s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.13s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.12s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.11s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/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 6m56.021s -user 6m14.948s -sys 1m31.364s +real 4m54.281s +user 4m55.521s +sys 0m24.747s diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json index 0861440..536355e 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json +++ b/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json @@ -1,5 +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": 33.945563782754554 + "psnr": 27.46347145461597 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/output.log b/unitree_z1_dual_arm_stackbox_v2/case3/output.log index 66f479d..5bdcc39 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case3/output.log +++ b/unitree_z1_dual_arm_stackbox_v2/case3/output.log @@ -1,13 +1,16 @@ -2026-02-11 15:17:41.661323: 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 15:17:41.711317: 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 15:17:41.711373: 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 15:17:41.712706: 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 15:17:41.720248: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:33:43.119091: 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 18:33:43.169099: 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 18:33:43.169143: 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 18:33:43.170444: 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 18:33:43.177944: 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 15:17:42.650151: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:33:44.102499: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,40 @@ 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 ... + 0%| | 0/11 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 18%|█▊ | 2/11 [01:08<05:08, 34.25s/it] 27%|██▋ | 3/11 [01:42<04:33, 34.23s/it] 36%|███▋ | 4/11 [02:16<03:59, 34.18s/it] 45%|████▌ | 5/11 [02:50<03:24, 34.17s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.15s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.13s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.12s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.09s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.13s/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 6m56.873s -user 6m16.064s -sys 1m30.735s +real 4m54.135s +user 4m50.606s +sys 0m29.626s diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json index 4bf51b5..5ba90ca 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json +++ b/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json @@ -1,5 +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": 31.86126241517472 + "psnr": 28.604047286947512 } \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/output.log b/unitree_z1_dual_arm_stackbox_v2/case4/output.log index cd7eea4..fd920ca 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case4/output.log +++ b/unitree_z1_dual_arm_stackbox_v2/case4/output.log @@ -1,13 +1,16 @@ -2026-02-11 15:24:38.487806: 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 15:24:38.538144: 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 15:24:38.538200: 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 15:24:38.539554: 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 15:24:38.547185: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:38:37.252690: 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 18:38:37.301897: 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 18:38:37.301950: 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 18:38:37.303254: 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 18:38:37.310679: 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 15:24:39.470885: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:38:38.237893: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,40 @@ 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 ... + 0%| | 0/11 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 18%|█▊ | 2/11 [01:08<05:09, 34.35s/it] 27%|██▋ | 3/11 [01:42<04:34, 34.33s/it] 36%|███▋ | 4/11 [02:17<03:59, 34.26s/it] 45%|████▌ | 5/11 [02:51<03:25, 34.22s/it] 55%|█████▍ | 6/11 [03:25<02:50, 34.18s/it] 64%|██████▎ | 7/11 [03:59<02:16, 34.14s/it] 73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it] 82%|████████▏ | 9/11 [05:07<01:08, 34.09s/it] 91%|█████████ | 10/11 [05:41<00:34, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.09s/it] 100%|██████████| 11/11 [06:15<00:00, 34.15s/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 6m57.114s -user 6m21.626s -sys 1m25.160s +real 4m54.378s +user 4m49.022s +sys 0m30.777s diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json index 68e4f81..1fd1f3e 100644 --- a/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json +++ b/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json @@ -1,5 +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": 39.90908062249536 + "psnr": 25.578498826379903 } \ No newline at end of file diff --git a/unitree_z1_stackbox/case1/output.log b/unitree_z1_stackbox/case1/output.log index c45c720..a18e0c3 100644 --- a/unitree_z1_stackbox/case1/output.log +++ b/unitree_z1_stackbox/case1/output.log @@ -1,13 +1,16 @@ -2026-02-11 15:31:35.657972: 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 15:31:35.707733: 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 15:31:35.707792: 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 15:31:35.709109: 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 15:31:35.716616: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:43:31.592464: 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 18:43:31.641865: 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 18:43:31.641908: 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 18:43:31.643209: 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 18:43:31.650663: 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 15:31:36.648540: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:43:32.564662: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,43 @@ 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%| | 0/12 [00:00>> Step 0: generating actions ... + 0%| | 0/12 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,40 +120,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 17%|█▋ | 2/12 [01:08<05:42, 34.24s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.20s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.19s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.14s/it] 50%|█████ | 6/12 [03:24<03:24, 34.09s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.07s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.07s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.05s/it] 83%|████████▎ | 10/12 [05:41<01:08, 34.06s/it] 92%|█████████▏| 11/12 [06:15<00:34, 34.08s/it] 100%|██████████| 12/12 [06:49<00:00, 34.07s/it] 100%|██████████| 12/12 [06:49<00:00, 34.10s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 11: generating actions ... ->>> Step 11: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 7m25.752s -user 6m39.497s -sys 1m32.896s +real 5m12.679s +user 5m10.272s +sys 0m29.541s diff --git a/unitree_z1_stackbox/case1/psnr_result.json b/unitree_z1_stackbox/case1/psnr_result.json index 0bb3725..e503093 100644 --- a/unitree_z1_stackbox/case1/psnr_result.json +++ b/unitree_z1_stackbox/case1/psnr_result.json @@ -1,5 +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": 49.42336701518203 + "psnr": 46.05271283048069 } \ No newline at end of file diff --git a/unitree_z1_stackbox/case2/output.log b/unitree_z1_stackbox/case2/output.log index 28b568b..50000e9 100644 --- a/unitree_z1_stackbox/case2/output.log +++ b/unitree_z1_stackbox/case2/output.log @@ -1,13 +1,16 @@ -2026-02-11 15:39:01.409308: 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 15:39:01.459136: 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 15:39:01.459190: 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 15:39:01.460507: 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 15:39:01.468019: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:48:44.235405: 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 18:48:44.285138: 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 18:48:44.285181: 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 18:48:44.286531: 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 18:48:44.294141: 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 15:39:02.395912: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:48:45.209453: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,43 @@ 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%| | 0/12 [00:00>> Step 0: generating actions ... + 0%| | 0/12 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,40 +120,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 17%|█▋ | 2/12 [01:08<05:41, 34.18s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.15s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.13s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.09s/it] 50%|█████ | 6/12 [03:24<03:24, 34.08s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.06s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.03s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.03s/it] 83%|████████▎ | 10/12 [05:40<01:08, 34.03s/it] 92%|█████████▏| 11/12 [06:14<00:34, 34.02s/it] 100%|██████████| 12/12 [06:48<00:00, 34.00s/it] 100%|██████████| 12/12 [06:48<00:00, 34.05s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 11: generating actions ... ->>> Step 11: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 7m25.895s -user 6m43.188s -sys 1m30.039s +real 5m12.817s +user 5m5.429s +sys 0m34.879s diff --git a/unitree_z1_stackbox/case2/psnr_result.json b/unitree_z1_stackbox/case2/psnr_result.json index 227789d..681786f 100644 --- a/unitree_z1_stackbox/case2/psnr_result.json +++ b/unitree_z1_stackbox/case2/psnr_result.json @@ -1,5 +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": 48.88265200549669 + "psnr": 38.94694381287429 } \ No newline at end of file diff --git a/unitree_z1_stackbox/case3/output.log b/unitree_z1_stackbox/case3/output.log index eab2840..6c8b3df 100644 --- a/unitree_z1_stackbox/case3/output.log +++ b/unitree_z1_stackbox/case3/output.log @@ -1,13 +1,16 @@ -2026-02-11 15:46:27.304090: 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 15:46:27.354074: 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 15:46:27.354120: 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 15:46:27.355468: 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 15:46:27.363130: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:53:57.068615: 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 18:53:57.118271: 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 18:53:57.118312: 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 18:53:57.119665: 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 18:53:57.127266: 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 15:46:28.290783: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:53:58.042116: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,43 @@ 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%| | 0/12 [00:00>> Step 0: generating actions ... + 0%| | 0/12 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,40 +120,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 17%|█▋ | 2/12 [01:08<05:42, 34.24s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.22s/it] 33%|███▎ | 4/12 [02:16<04:33, 34.16s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.11s/it] 50%|█████ | 6/12 [03:24<03:24, 34.08s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.04s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.02s/it] 75%|███████▌ | 9/12 [05:06<01:41, 33.99s/it] 83%|████████▎ | 10/12 [05:40<01:07, 33.99s/it] 92%|█████████▏| 11/12 [06:14<00:33, 33.97s/it] 100%|██████████| 12/12 [06:48<00:00, 33.96s/it] 100%|██████████| 12/12 [06:48<00:00, 34.04s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 11: generating actions ... ->>> Step 11: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 7m25.192s -user 6m39.503s -sys 1m31.823s +real 5m12.616s +user 5m6.750s +sys 0m32.204s diff --git a/unitree_z1_stackbox/case3/psnr_result.json b/unitree_z1_stackbox/case3/psnr_result.json index b1a5655..745a0ad 100644 --- a/unitree_z1_stackbox/case3/psnr_result.json +++ b/unitree_z1_stackbox/case3/psnr_result.json @@ -1,5 +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": 50.884297816906816 + "psnr": 49.489774674892764 } \ No newline at end of file diff --git a/unitree_z1_stackbox/case4/output.log b/unitree_z1_stackbox/case4/output.log index 8be2064..673999d 100644 --- a/unitree_z1_stackbox/case4/output.log +++ b/unitree_z1_stackbox/case4/output.log @@ -1,13 +1,16 @@ -2026-02-11 15:53:52.504337: 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 15:53:52.554351: 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 15:53:52.554397: 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 15:53:52.555718: 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 15:53:52.563252: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 18:59:09.688302: 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 18:59:09.737473: 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 18:59:09.737518: 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 18:59:09.738835: 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 18:59:09.746322: 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 15:53:53.493343: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 18:59:10.660940: 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. +>>> Diffusion backbone (model.model) converted to FP16. +>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16. +>>> Encoders (cond_stage_model, embedder) converted to FP16. INFO:root:***** Configing Data ***** >>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: data stats loaded. @@ -31,10 +34,43 @@ 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%| | 0/12 [00:00>> Step 0: generating actions ... + 0%| | 0/12 [00:00>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... +>>> 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 ... +>>>>>>>>>>>>>>>>>>>>>>>> +>>> Step 11: generating actions ... +>>> Step 11: interacting with world model ... +>>>>>>>>>>>>>>>>>>>>>>>> DEBUG:PIL.Image:Importing BlpImagePlugin DEBUG:PIL.Image:Importing BmpImagePlugin DEBUG:PIL.Image:Importing BufrStubImagePlugin @@ -84,40 +120,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 17%|█▋ | 2/12 [01:08<05:41, 34.19s/it] 25%|██▌ | 3/12 [01:42<05:07, 34.15s/it] 33%|███▎ | 4/12 [02:16<04:32, 34.12s/it] 42%|████▏ | 5/12 [02:50<03:58, 34.09s/it] 50%|█████ | 6/12 [03:24<03:24, 34.05s/it] 58%|█████▊ | 7/12 [03:58<02:50, 34.03s/it] 67%|██████▋ | 8/12 [04:32<02:16, 34.04s/it] 75%|███████▌ | 9/12 [05:06<01:42, 34.03s/it] 83%|████████▎ | 10/12 [05:40<01:08, 34.01s/it] 92%|█████████▏| 11/12 [06:14<00:34, 34.03s/it] 100%|██████████| 12/12 [06:48<00:00, 34.02s/it] 100%|██████████| 12/12 [06:48<00:00, 34.05s/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 ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 11: generating actions ... ->>> Step 11: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 7m25.114s -user 6m35.463s -sys 1m35.788s +real 5m12.608s +user 5m4.451s +sys 0m35.253s diff --git a/unitree_z1_stackbox/case4/psnr_result.json b/unitree_z1_stackbox/case4/psnr_result.json index d7babf9..b418e92 100644 --- a/unitree_z1_stackbox/case4/psnr_result.json +++ b/unitree_z1_stackbox/case4/psnr_result.json @@ -1,5 +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": 47.85197517791449 + "psnr": 47.18724378194084 } \ No newline at end of file