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qhy
2026-02-11 16:24:40 +08:00
parent 352a79035f
commit f386a5810b
4 changed files with 26 additions and 15 deletions
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6
scripts/evaluation/world_model_interaction.py
View File

@@ -572,9 +572,9 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
print(f">>> Prepared model saved ({os.path.getsize(prepared_path) / 1024**3:.1f} GB).") print(f">>> Prepared model saved ({os.path.getsize(prepared_path) / 1024**3:.1f} GB).")
# ---- BF16: only convert the diffusion backbone, keep VAE/CLIP/embedder in FP32 ---- # ---- BF16: only convert the diffusion backbone, keep VAE/CLIP/embedder in FP32 ----
model.model.to(torch.bfloat16) model.model.to(torch.float16)
model.model.diffusion_model.dtype = torch.bfloat16 model.model.diffusion_model.dtype = torch.float16
print(">>> Diffusion backbone (model.model) converted to BF16.") print(">>> Diffusion backbone (model.model) converted to FP16.")
# Build normalizer (always needed, independent of model loading path) # Build normalizer (always needed, independent of model loading path)
logging.info("***** Configing Data *****") logging.info("***** Configing Data *****")

10
src/unifolm_wma/models/ddpms.py
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@@ -2457,7 +2457,17 @@ class DiffusionWrapper(pl.LightningModule):
Returns: Returns:
Output from the inner diffusion model (tensor or tuple, depending on the model). Output from the inner diffusion model (tensor or tuple, depending on the model).
""" """
with torch.cuda.amp.autocast(dtype=torch.float16):
return self._forward_impl(x, x_action, x_state, t,
c_concat, c_crossattn, c_crossattn_action,
c_adm, s, mask, **kwargs)
def _forward_impl(
self,
x, x_action, x_state, t,
c_concat=None, c_crossattn=None, c_crossattn_action=None,
c_adm=None, s=None, mask=None, **kwargs,
):
if self.conditioning_key is None: if self.conditioning_key is None:
out = self.diffusion_model(x, t) out = self.diffusion_model(x, t)
elif self.conditioning_key == 'concat': elif self.conditioning_key == 'concat':

23
unitree_z1_dual_arm_stackbox_v2/case1/output.log
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@@ -1,13 +1,14 @@
2026-02-11 15:03:49.644187: 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 16:14:08.942290: 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 15:03:49.694117: 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 16:14:08.992267: 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 15:03:49.694162: 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 16:14:08.992319: 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 15:03:49.695456: 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 16:14:08.993621: 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 15:03:49.702946: 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 16:14:09.001096: 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. To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
2026-02-11 15:03:50.638334: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT 2026-02-11 16:14:09.927986: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
Global seed set to 123 Global seed set to 123
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... >>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
>>> Prepared model loaded. >>> Prepared model loaded.
>>> Diffusion backbone (model.model) converted to FP16.
INFO:root:***** Configing Data ***** INFO:root:***** Configing Data *****
>>> unitree_z1_stackbox: 1 data samples loaded. >>> unitree_z1_stackbox: 1 data samples loaded.
>>> unitree_z1_stackbox: data stats loaded. >>> unitree_z1_stackbox: data stats loaded.
@@ -31,7 +32,7 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13 DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
0%| | 0/11 [00:00<?, ?it/s] 0%| | 0/11 [00:00<?, ?it/s]
9%|▉ | 1/11 [00:23<03:58, 23.83s/it]>>> Step 0: generating actions ... 9%|▉ | 1/11 [00:23<03:58, 23.83s/it]>>> Step 0: generating actions ...
>>> Step 0: interacting with world model ... >>> Step 0: interacting with world model ...
@@ -84,7 +85,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing WebPImagePlugin DEBUG:PIL.Image:Importing WebPImagePlugin
DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing WmfImagePlugin
DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin
DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin
18%|█▊ | 2/11 [00:47<03:32, 23.66s/it] 18%|█▊ | 2/11 [00:47<03:32, 23.66s/it]
@@ -115,6 +116,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
>>> Step 6: generating actions ... >>> Step 6: generating actions ...
>>> Step 6: interacting with world model ... >>> Step 6: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 7: generating actions ... >>> Step 7: generating actions ...
>>> Step 7: interacting with world model ... >>> Step 7: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>>>>>>

2
unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json
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@@ -1,5 +1,5 @@
{ {
"gt_video": "unitree_z1_dual_arm_stackbox_v2/case1/unitree_z1_dual_arm_stackbox_v2_case1.mp4", "gt_video": "unitree_z1_dual_arm_stackbox_v2/case1/unitree_z1_dual_arm_stackbox_v2_case1.mp4",
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case1/output/inference/5_full_fs4.mp4", "pred_video": "unitree_z1_dual_arm_stackbox_v2/case1/output/inference/5_full_fs4.mp4",
"psnr": 28.167025381705358 "psnr": 25.21894470816415
} }