olivame/unifolm-world-model-action
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

优化后的全部结果

Browse Source
This commit is contained in:
qhy
2026-02-11 19:21:06 +08:00
parent 508b91f5a2
commit d5bec53f61
43 changed files with 3201 additions and 718 deletions
Download Patch File Download Diff File Expand all files Collapse all files

59
unitree_z1_dual_arm_stackbox/case3/output.log
View File

@@ -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<?, ?it/s]
14%|█▍ | 1/7 [00:23<02:20, 23.41s/it]
29%|██▊ | 2/7 [00:46<01:55, 23.03s/it]
43%|████▎ | 3/7 [01:09<01:31, 22.95s/it]
57%|█████▋ | 4/7 [01:31<01:08, 22.91s/it]
71%|███████▏ | 5/7 [01:54<00:45, 22.87s/it]
86%|████████▌ | 6/7 [02:17<00:22, 22.84s/it]
100%|██████████| 7/7 [02:40<00:00, 22.82s/it]
100%|██████████| 7/7 [02:40<00:00, 22.89s/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 ...
>>>>>>>>>>>>>>>>>>>>>>>>
@@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing PsdImagePlugin
DEBUG:PIL.Image:Importing QoiImagePlugin
DEBUG:PIL.Image:Importing SgiImagePlugin
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 ...
>>>>>>>>>>>>>>>>>>>>>>>>
DEBUG:PIL.Image:Importing SpiderImagePlugin
>>> Step 4: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 5: generating actions ...
DEBUG:PIL.Image:Importing SunImagePlugin
DEBUG:PIL.Image:Importing TgaImagePlugin
DEBUG:PIL.Image:Importing TiffImagePlugin