baseline
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unitree_z1_dual_arm_stackbox_v2/case4/output.log
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unitree_z1_dual_arm_stackbox_v2/case4/output.log
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2026-02-11 23:04:15.762959: 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 23:04:15.814243: 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 23:04:15.814301: 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 23:04:15.815653: 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 23:04:15.823287: 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 23:04:16.742609: 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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INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
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INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
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INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
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AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
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INFO:root:Loaded ViT-H-14 model config.
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INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
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INFO:root:Loaded ViT-H-14 model config.
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INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
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>>> model checkpoint loaded.
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>>> Load pre-trained model ...
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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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>>> unitree_z1_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
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>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
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>>> unitree_g1_pack_camera: 1 data samples loaded.
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>>> unitree_g1_pack_camera: data stats loaded.
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>>> unitree_g1_pack_camera: normalizer initiated.
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>>> Dataset is successfully loaded ...
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>>> Generate 16 frames under each generation ...
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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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0%| | 0/11 [00:00<?, ?it/s]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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DEBUG:PIL.Image:Importing BlpImagePlugin
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DEBUG:PIL.Image:Importing BmpImagePlugin
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DEBUG:PIL.Image:Importing BufrStubImagePlugin
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DEBUG:PIL.Image:Importing CurImagePlugin
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DEBUG:PIL.Image:Importing DcxImagePlugin
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DEBUG:PIL.Image:Importing DdsImagePlugin
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DEBUG:PIL.Image:Importing EpsImagePlugin
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DEBUG:PIL.Image:Importing FitsImagePlugin
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
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DEBUG:PIL.Image:Importing FliImagePlugin
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DEBUG:PIL.Image:Importing FpxImagePlugin
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing FtexImagePlugin
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DEBUG:PIL.Image:Importing GbrImagePlugin
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DEBUG:PIL.Image:Importing GifImagePlugin
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DEBUG:PIL.Image:Importing GribStubImagePlugin
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DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
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DEBUG:PIL.Image:Importing IcnsImagePlugin
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
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DEBUG:PIL.Image:Importing ImtImagePlugin
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DEBUG:PIL.Image:Importing IptcImagePlugin
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DEBUG:PIL.Image:Importing JpegImagePlugin
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DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
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DEBUG:PIL.Image:Importing McIdasImagePlugin
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DEBUG:PIL.Image:Importing MicImagePlugin
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing MpegImagePlugin
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DEBUG:PIL.Image:Importing MpoImagePlugin
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DEBUG:PIL.Image:Importing MspImagePlugin
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DEBUG:PIL.Image:Importing PalmImagePlugin
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DEBUG:PIL.Image:Importing PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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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 PpmImagePlugin
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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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DEBUG:PIL.Image:Importing SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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DEBUG:PIL.Image:Importing TgaImagePlugin
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DEBUG:PIL.Image:Importing TiffImagePlugin
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DEBUG:PIL.Image:Importing WebPImagePlugin
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DEBUG:PIL.Image:Importing WmfImagePlugin
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DEBUG:PIL.Image:Importing XbmImagePlugin
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DEBUG:PIL.Image:Importing XpmImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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9%|▉ | 1/11 [01:14<12:25, 74.55s/it]
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18%|█▊ | 2/11 [02:29<11:13, 74.83s/it]
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27%|██▋ | 3/11 [03:44<09:58, 74.77s/it]
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36%|███▋ | 4/11 [04:59<08:43, 74.78s/it]
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64%|██████▎ | 7/11 [08:42<04:57, 74.37s/it]
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73%|███████▎ | 8/11 [09:56<03:42, 74.28s/it]
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82%|████████▏ | 9/11 [11:10<02:28, 74.26s/it]
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91%|█████████ | 10/11 [12:24<01:14, 74.31s/it]
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100%|██████████| 11/11 [13:39<00:00, 74.38s/it]
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100%|██████████| 11/11 [13:39<00:00, 74.48s/it]
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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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>>>>>>>>>>>>>>>>>>>>>>>>
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