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优化后的全部结果

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qhy
2026-02-11 19:21:06 +08:00
parent 508b91f5a2
commit d5bec53f61
43 changed files with 3201 additions and 718 deletions
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65
unitree_z1_dual_arm_cleanup_pencils/case1/output.log
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@@ -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
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>>> 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 ...
@@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing PpmImagePlugin
DEBUG:PIL.Image:Importing PsdImagePlugin
DEBUG:PIL.Image:Importing QoiImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
25%|██▌ | 2/8 [01:08<03:24, 34.15s/it]
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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 ...
DEBUG:PIL.Image:Importing SgiImagePlugin
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
DEBUG:PIL.Image:Importing SpiderImagePlugin
DEBUG:PIL.Image:Importing SunImagePlugin
DEBUG:PIL.Image:Importing TgaImagePlugin

2
unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json
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@@ -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
}

65
unitree_z1_dual_arm_cleanup_pencils/case2/output.log
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@@ -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
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>>> 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 ...
@@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing PpmImagePlugin
DEBUG:PIL.Image:Importing PsdImagePlugin
DEBUG:PIL.Image:Importing QoiImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
25%|██▌ | 2/8 [01:08<03:25, 34.24s/it]
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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 ...
DEBUG:PIL.Image:Importing SgiImagePlugin
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
DEBUG:PIL.Image:Importing SpiderImagePlugin
DEBUG:PIL.Image:Importing SunImagePlugin
DEBUG:PIL.Image:Importing TgaImagePlugin

2
unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json
View File

@@ -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
}

65
unitree_z1_dual_arm_cleanup_pencils/case3/output.log
View File

@@ -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
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>>> 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 ...
@@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing PpmImagePlugin
DEBUG:PIL.Image:Importing PsdImagePlugin
DEBUG:PIL.Image:Importing QoiImagePlugin
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]
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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 ...
DEBUG:PIL.Image:Importing SgiImagePlugin
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
DEBUG:PIL.Image:Importing SpiderImagePlugin
DEBUG:PIL.Image:Importing SunImagePlugin
DEBUG:PIL.Image:Importing TgaImagePlugin

2
unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json
View File

@@ -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
}

65
unitree_z1_dual_arm_cleanup_pencils/case4/output.log
View File

@@ -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
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50%|█████ | 4/8 [01:31<01:31, 22.89s/it]
62%|██████▎ | 5/8 [01:54<01:08, 22.85s/it]
75%|███████▌ | 6/8 [02:17<00:45, 22.81s/it]
88%|████████▊ | 7/8 [02:40<00:22, 22.79s/it]
100%|██████████| 8/8 [03:02<00:00, 22.77s/it]
100%|██████████| 8/8 [03:02<00:00, 22.85s/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 ...
@@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing PpmImagePlugin
DEBUG:PIL.Image:Importing PsdImagePlugin
DEBUG:PIL.Image:Importing QoiImagePlugin
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 ...
DEBUG:PIL.Image:Importing SgiImagePlugin
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
DEBUG:PIL.Image:Importing SpiderImagePlugin
DEBUG:PIL.Image:Importing SunImagePlugin
DEBUG:PIL.Image:Importing TgaImagePlugin

2
unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json
View File

@@ -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
}