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- state_unet 放到一个独立的 CUDA stream 上执行

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- action_unet 在默认 stream 上同时执行
  - 用 wait_stream 确保两者都完成后再返回
两个 1D UNet 输入完全独立，共享的 hs_a 和 context_action 都是只读的。GPU 利用率只有 ~31%，小张量 kernel 不会打满 GPU，两个 stream 可以真正并行。
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qhy
2026-02-10 21:41:48 +08:00
parent ff43432ef9
commit dcbcb2c377
4 changed files with 28 additions and 19 deletions
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22
unitree_z1_dual_arm_stackbox_v2/case1/output.log
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@@ -1,10 +1,10 @@
2026-02-10 19:43:34.679819: 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`.
2026-02-10 19:43:34.729245: 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
2026-02-10 19:43:34.729298: 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
2026-02-10 19:43:34.730600: 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
2026-02-10 19:43:34.738078: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
2026-02-10 21:29:54.531726: 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`.
2026-02-10 21:29:54.581091: 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
2026-02-10 21:29:54.581133: 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
2026-02-10 21:29:54.582445: 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
2026-02-10 21:29:54.589984: 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.
2026-02-10 19:43:35.659490: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
2026-02-10 21:29:55.504855: 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.
@@ -30,7 +30,7 @@ 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 [00:33<05:36, 33.61s/it]>>> Step 0: generating actions ...
>>> Step 0: interacting with world model ...
@@ -83,7 +83,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing WebPImagePlugin
DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing XbmImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
18%|█▊ | 2/11 [01:07<05:04, 33.81s/it]
@@ -114,6 +114,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
>>> Step 6: generating actions ...
>>> Step 6: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 7: generating actions ...
>>> Step 7: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 7: generating actions ...
>>> Step 7: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>