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`.
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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.
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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`.
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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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>>> 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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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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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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@@ -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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