优化后的全部结果
This commit is contained in:
@@ -1,13 +1,16 @@
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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
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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
|
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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
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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
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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
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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
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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.
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To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
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2026-02-11 13:57:31.177911: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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2026-02-11 19:14:10.584900: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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Global seed set to 123
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>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Prepared model loaded.
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>>> Diffusion backbone (model.model) converted to FP16.
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>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
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>>> Encoders (cond_stage_model, embedder) converted to FP16.
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INFO:root:***** Configing Data *****
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>>> unitree_z1_stackbox: 1 data samples loaded.
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>>> unitree_z1_stackbox: data stats loaded.
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@@ -31,10 +34,40 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
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DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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100%|██████████| 11/11 [04:09<00:00, 22.73s/it]
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PixarImagePlugin
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DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing XpmImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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DEBUG:PIL.Image:Importing PpmImagePlugin
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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||||
DEBUG:PIL.Image:Importing PsdImagePlugin
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||||
DEBUG:PIL.Image:Importing QoiImagePlugin
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||||
DEBUG:PIL.Image:Importing SgiImagePlugin
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||||
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||||
@@ -1,5 +1,5 @@
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||||
{
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||||
"gt_video": "unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4",
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"pred_video": "unitree_g1_pack_camera/case1/output/inference/0_full_fs6.mp4",
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"psnr": 34.28787704598647
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"psnr": 32.340256576190384
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||||
}
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||||
@@ -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
|
||||
|
||||
|
||||
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||||
100%|██████████| 11/11 [04:11<00:00, 22.83s/it]
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
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||||
>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 1: generating actions ...
|
||||
>>> Step 1: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 2: generating actions ...
|
||||
>>> Step 2: interacting with world model ...
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||||
>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 3: generating actions ...
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||||
>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 4: generating actions ...
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||||
>>> Step 4: interacting with world model ...
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||||
>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 5: generating actions ...
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||||
>>> Step 5: interacting with world model ...
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||||
>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 6: generating actions ...
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||||
>>> Step 6: interacting with world model ...
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||||
>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
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||||
>>> 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 PpmImagePlugin
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||
|
||||
@@ -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
|
||||
}
|
||||
@@ -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
|
||||
|
||||
|
||||
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|
||||
91%|█████████ | 10/11 [03:48<00:22, 22.78s/it]
|
||||
100%|██████████| 11/11 [04:11<00:00, 22.76s/it]
|
||||
100%|██████████| 11/11 [04:11<00:00, 22.86s/it]
|
||||
>>> 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 ...
|
||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||
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 ...
|
||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||
|
||||
@@ -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
|
||||
}
|
||||
@@ -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<?, ?it/s]
|
||||
9%|▉ | 1/11 [00:23<03:53, 23.39s/it]
|
||||
18%|█▊ | 2/11 [00:46<03:26, 22.96s/it]
|
||||
27%|██▋ | 3/11 [01:08<03:03, 22.89s/it]
|
||||
36%|███▋ | 4/11 [01:31<02:40, 22.86s/it]
|
||||
45%|████▌ | 5/11 [01:54<02:16, 22.82s/it]
|
||||
55%|█████▍ | 6/11 [02:17<01:54, 22.80s/it]
|
||||
64%|██████▎ | 7/11 [02:39<01:31, 22.77s/it]
|
||||
73%|███████▎ | 8/11 [03:02<01:08, 22.75s/it]
|
||||
82%|████████▏ | 9/11 [03:25<00:45, 22.73s/it]
|
||||
91%|█████████ | 10/11 [03:47<00:22, 22.72s/it]
|
||||
100%|██████████| 11/11 [04:10<00:00, 22.73s/it]
|
||||
100%|██████████| 11/11 [04:10<00:00, 22.79s/it]
|
||||
>>> 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 ...
|
||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||
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 ...
|
||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||
|
||||
@@ -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
|
||||
}
|
||||
Reference in New Issue
Block a user