Compare commits
4 Commits
508b91f5a2
...
tensorrt-d
| Author | SHA1 | Date | |
|---|---|---|---|
| ef56e5dcdb | |||
| e1f8a83648 | |||
| 5e0e21d91b | |||
| d5bec53f61 |
@@ -14,7 +14,8 @@
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"Bash(for scenario in unitree_g1_pack_camera unitree_z1_dual_arm_cleanup_pencils unitree_z1_dual_arm_stackbox unitree_z1_dual_arm_stackbox_v2 unitree_z1_stackbox)",
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"Bash(for scenario in unitree_g1_pack_camera unitree_z1_dual_arm_cleanup_pencils unitree_z1_dual_arm_stackbox unitree_z1_dual_arm_stackbox_v2 unitree_z1_stackbox)",
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"Bash(do for case in case1 case2 case3 case4)",
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"Bash(do for case in case1 case2 case3 case4)",
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"Bash(done)",
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"Bash(done)",
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"Bash(chmod:*)"
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"Bash(chmod:*)",
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"Bash(ln:*)"
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]
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]
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}
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}
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}
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}
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37
run_all_cases_20260211_173422.log
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37
run_all_cases_20260211_173422.log
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@@ -0,0 +1,37 @@
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2026-02-11 17:34:29.188470: 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 17:34:29.238296: 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 17:34:29.238342: 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 17:34:29.239649: 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 17:34:29.247152: 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 17:34:30.172640: 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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>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Prepared model loaded.
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>>> Diffusion backbone (model.model) converted to FP16.
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>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
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>>> Encoders (cond_stage_model, embedder) converted to FP16.
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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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✓ KV fused: 66 attention layers
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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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2388
run_all_cases_20260211_173635.log
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2388
run_all_cases_20260211_173635.log
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File diff suppressed because it is too large
Load Diff
0
run_all_cases_20260211_181733.log
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0
run_all_cases_20260211_181733.log
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@@ -922,7 +922,7 @@ def get_parser():
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parser.add_argument(
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parser.add_argument(
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"--fast_policy_no_decode",
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"--fast_policy_no_decode",
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action='store_true',
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action='store_true',
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default=False,
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default=True,
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help="Speed mode: policy pass only predicts actions, skip policy video decode/log/save.")
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help="Speed mode: policy pass only predicts actions, skip policy video decode/log/save.")
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parser.add_argument("--save_fps",
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parser.add_argument("--save_fps",
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type=int,
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type=int,
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@@ -1,13 +1,16 @@
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2026-02-11 13:57:30.192579: 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 19:14:09.599811: 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 13:57:30.242090: 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 19:14:09.649058: 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 13:57:30.242134: 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 19:14:09.649103: 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 13:57:30.243443: 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 19:14:09.650392: 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 13:57:30.250963: 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 19:14:09.657857: 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.
|
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||||
2026-02-11 13:57:31.177911: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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2026-02-11 19:14:10.584900: 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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Global seed set to 123
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||||||
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Prepared model loaded.
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>>> Prepared model loaded.
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||||||
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>>> Diffusion backbone (model.model) converted to FP16.
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||||||
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>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
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||||||
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>>> Encoders (cond_stage_model, embedder) converted to FP16.
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INFO:root:***** Configing Data *****
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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: 1 data samples loaded.
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>>> unitree_z1_stackbox: data stats loaded.
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>>> unitree_z1_stackbox: data stats loaded.
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@@ -31,10 +34,40 @@ 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'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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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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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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100%|██████████| 11/11 [04:09<00:00, 22.73s/it]
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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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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||||||
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>>> Step 6: generating actions ...
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||||||
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>>> Step 6: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>>>>>>>>>>>>>>>>>>>>>>>
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||||||
>>> Step 7: generating actions ...
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>> Step 7: interacting with world model ...
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@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
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|||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
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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 PixarImagePlugin
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||||||
DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing PngImagePlugin
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||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
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||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
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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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DEBUG:PIL.Image:Importing PpmImagePlugin
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DEBUG:PIL.Image:Importing PpmImagePlugin
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>>> Step 7: generating actions ...
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DEBUG:PIL.Image:Importing PsdImagePlugin
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>>> Step 7: interacting with world model ...
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DEBUG:PIL.Image:Importing QoiImagePlugin
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>>>>>>>>>>>>>>>>>>>>>>>>
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DEBUG:PIL.Image:Importing SgiImagePlugin
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|||||||
@@ -1,5 +1,5 @@
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{
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{
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"gt_video": "unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4",
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"gt_video": "unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4",
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"pred_video": "unitree_g1_pack_camera/case1/output/inference/0_full_fs6.mp4",
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"pred_video": "unitree_g1_pack_camera/case1/output/inference/0_full_fs6.mp4",
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"psnr": 34.28787704598647
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"psnr": 32.340256576190384
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}
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}
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@@ -1,13 +1,16 @@
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2026-02-11 14:04:18.542839: 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 17:41:30.163933: 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 14:04:18.593447: 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 17:41:30.213409: 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 14:04:18.593492: 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 17:41:30.213453: 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 14:04:18.594810: 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 17:41:30.214760: 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 14:04:18.602331: 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 17:41:30.222233: 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 14:04:19.529518: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 17:41:31.146811: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
||||||
INFO:root:***** Configing Data *****
|
INFO:root:***** Configing Data *****
|
||||||
>>> unitree_z1_stackbox: 1 data samples loaded.
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>>> unitree_z1_stackbox: 1 data samples loaded.
|
||||||
>>> unitree_z1_stackbox: data stats loaded.
|
>>> unitree_z1_stackbox: data stats loaded.
|
||||||
@@ -31,10 +34,40 @@ 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'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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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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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> 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 ...
|
||||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
18%|█▊ | 2/11 [01:08<05:08, 34.26s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
73%|███████▎ | 8/11 [04:33<01:42, 34.16s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 11/11 [06:15<00:00, 34.17s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 7: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 7: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_g1_pack_camera/case2/unitree_g1_pack_camera_case2.mp4",
|
"gt_video": "unitree_g1_pack_camera/case2/unitree_g1_pack_camera_case2.mp4",
|
||||||
"pred_video": "unitree_g1_pack_camera/case2/output/inference/50_full_fs6.mp4",
|
"pred_video": "unitree_g1_pack_camera/case2/output/inference/50_full_fs6.mp4",
|
||||||
"psnr": 43.756296364111726
|
"psnr": 37.49178506869336
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 14:11:08.388455: 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 17:46:20.925463: 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 14:11:08.437992: 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 17:46:20.976293: 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 14:11:08.438037: 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 17:46:20.976338: 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 14:11:08.439358: 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 17:46:20.977650: 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 14:11:08.446903: 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 17:46:20.985133: 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 14:11:09.369764: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 17:46:21.909964: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,40 @@ 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]
|
||||||
9%|▉ | 1/11 [00:23<03:54, 23.50s/it]
|
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|
||||||
18%|█▊ | 2/11 [00:46<03:27, 23.07s/it]
|
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|
||||||
27%|██▋ | 3/11 [01:09<03:03, 22.99s/it]
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
73%|███████▎ | 8/11 [03:03<01:08, 22.83s/it]
|
||||||
|
82%|████████▏ | 9/11 [03:26<00:45, 22.81s/it]
|
||||||
|
91%|█████████ | 10/11 [03:48<00:22, 22.78s/it]
|
||||||
|
100%|██████████| 11/11 [04:11<00:00, 22.76s/it]
|
||||||
|
100%|██████████| 11/11 [04:11<00:00, 22.86s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> 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 ...
|
||||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
18%|█▊ | 2/11 [01:08<05:08, 34.25s/it]
|
|
||||||
27%|██▋ | 3/11 [01:42<04:33, 34.25s/it]
|
|
||||||
36%|███▋ | 4/11 [02:16<03:59, 34.22s/it]
|
|
||||||
45%|████▌ | 5/11 [02:51<03:25, 34.20s/it]
|
|
||||||
55%|█████▍ | 6/11 [03:25<02:50, 34.16s/it]
|
|
||||||
64%|██████▎ | 7/11 [03:59<02:16, 34.14s/it]
|
|
||||||
73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it]
|
|
||||||
82%|████████▏ | 9/11 [05:07<01:08, 34.11s/it]
|
|
||||||
91%|█████████ | 10/11 [05:41<00:34, 34.09s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<00:00, 34.07s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 4: generating actions ...
|
|
||||||
>>> Step 4: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 7: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 7: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_g1_pack_camera/case3/unitree_g1_pack_camera_case3.mp4",
|
"gt_video": "unitree_g1_pack_camera/case3/unitree_g1_pack_camera_case3.mp4",
|
||||||
"pred_video": "unitree_g1_pack_camera/case3/output/inference/100_full_fs6.mp4",
|
"pred_video": "unitree_g1_pack_camera/case3/output/inference/100_full_fs6.mp4",
|
||||||
"psnr": 37.65161306938167
|
"psnr": 29.88155122131729
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 14:17:57.092085: 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 17:51:11.566934: 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 14:17:57.141607: 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 17:51:11.616260: 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 14:17:57.141661: 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 17:51:11.616305: 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 14:17:57.142984: 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 17:51:11.617626: 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 14:17:57.150517: 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 17:51:11.625103: 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 14:17:58.074812: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 17:51:12.538539: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,40 @@ 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]
|
||||||
9%|▉ | 1/11 [00:23<03:53, 23.39s/it]
|
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|
||||||
18%|█▊ | 2/11 [00:46<03:26, 22.96s/it]
|
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|
||||||
27%|██▋ | 3/11 [01:08<03:03, 22.89s/it]
|
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|
||||||
|
36%|███▋ | 4/11 [01:31<02:40, 22.86s/it]
|
||||||
|
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|
||||||
|
55%|█████▍ | 6/11 [02:17<01:54, 22.80s/it]
|
||||||
|
64%|██████▎ | 7/11 [02:39<01:31, 22.77s/it]
|
||||||
|
73%|███████▎ | 8/11 [03:02<01:08, 22.75s/it]
|
||||||
|
82%|████████▏ | 9/11 [03:25<00:45, 22.73s/it]
|
||||||
|
91%|█████████ | 10/11 [03:47<00:22, 22.72s/it]
|
||||||
|
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|
||||||
|
100%|██████████| 11/11 [04:10<00:00, 22.79s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> 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 ...
|
||||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
18%|█▊ | 2/11 [01:08<05:08, 34.29s/it]
|
|
||||||
27%|██▋ | 3/11 [01:42<04:34, 34.25s/it]
|
|
||||||
36%|███▋ | 4/11 [02:16<03:59, 34.23s/it]
|
|
||||||
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|
|
||||||
55%|█████▍ | 6/11 [03:25<02:50, 34.17s/it]
|
|
||||||
64%|██████▎ | 7/11 [03:59<02:16, 34.19s/it]
|
|
||||||
73%|███████▎ | 8/11 [04:33<01:42, 34.18s/it]
|
|
||||||
82%|████████▏ | 9/11 [05:07<01:08, 34.16s/it]
|
|
||||||
91%|█████████ | 10/11 [05:41<00:34, 34.13s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<00:00, 34.11s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<00:00, 34.17s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 7: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 7: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_g1_pack_camera/case4/unitree_g1_pack_camera_case4.mp4",
|
"gt_video": "unitree_g1_pack_camera/case4/unitree_g1_pack_camera_case4.mp4",
|
||||||
"pred_video": "unitree_g1_pack_camera/case4/output/inference/200_full_fs6.mp4",
|
"pred_video": "unitree_g1_pack_camera/case4/output/inference/200_full_fs6.mp4",
|
||||||
"psnr": 33.205596596179475
|
"psnr": 35.62512454155058
|
||||||
}
|
}
|
||||||
@@ -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 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 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 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 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 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 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 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 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 17:56:01.228350: 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.
|
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
|
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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,31 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
|||||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
DEBUG:PIL.PngImagePlugin:STREAM b'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%| | 0/8 [00:00<?, ?it/s]
|
||||||
12%|█▎ | 1/8 [00:23<02:43, 23.34s/it]
|
12%|█▎ | 1/8 [00:23<02:43, 23.34s/it]
|
||||||
25%|██▌ | 2/8 [00:46<02:17, 22.96s/it]
|
25%|██▌ | 2/8 [00:46<02:17, 22.96s/it]
|
||||||
38%|███▊ | 3/8 [01:08<01:54, 22.88s/it]
|
38%|███▊ | 3/8 [01:08<01:54, 22.88s/it]
|
||||||
|
50%|█████ | 4/8 [01:31<01:31, 22.82s/it]
|
||||||
|
62%|██████▎ | 5/8 [01:54<01:08, 22.78s/it]
|
||||||
|
75%|███████▌ | 6/8 [02:16<00:45, 22.76s/it]
|
||||||
|
88%|████████▊ | 7/8 [02:39<00:22, 22.73s/it]
|
||||||
|
100%|██████████| 8/8 [03:02<00:00, 22.72s/it]
|
||||||
|
100%|██████████| 8/8 [03:02<00:00, 22.79s/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: generating actions ...
|
||||||
>>> Step 5: interacting with world model ...
|
>>> Step 5: interacting with world model ...
|
||||||
@@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
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]
|
|
||||||
38%|███▊ | 3/8 [01:42<02:50, 34.11s/it]
|
|
||||||
50%|█████ | 4/8 [02:16<02:16, 34.10s/it]
|
|
||||||
62%|██████▎ | 5/8 [02:50<01:42, 34.08s/it]
|
|
||||||
75%|███████▌ | 6/8 [03:24<01:08, 34.09s/it]
|
|
||||||
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
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
>>> Step 5: generating actions ...
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||||
>>> Step 5: interacting with world model ...
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_cleanup_pencils/case1/unitree_z1_dual_arm_cleanup_pencils_case1.mp4",
|
"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",
|
"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/0_full_fs4.mp4",
|
||||||
"psnr": 48.52515070316814
|
"psnr": 38.269577028444445
|
||||||
}
|
}
|
||||||
@@ -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 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 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 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 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 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 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 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 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 17:59:40.192307: 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.
|
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
|
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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,31 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
|||||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
DEBUG:PIL.PngImagePlugin:STREAM b'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%| | 0/8 [00:00<?, ?it/s]
|
||||||
12%|█▎ | 1/8 [00:23<02:43, 23.41s/it]
|
12%|█▎ | 1/8 [00:23<02:43, 23.41s/it]
|
||||||
25%|██▌ | 2/8 [00:46<02:18, 23.00s/it]
|
25%|██▌ | 2/8 [00:46<02:18, 23.00s/it]
|
||||||
38%|███▊ | 3/8 [01:08<01:54, 22.94s/it]
|
38%|███▊ | 3/8 [01:08<01:54, 22.94s/it]
|
||||||
|
50%|█████ | 4/8 [01:31<01:31, 22.86s/it]
|
||||||
|
62%|██████▎ | 5/8 [01:54<01:08, 22.82s/it]
|
||||||
|
75%|███████▌ | 6/8 [02:17<00:45, 22.78s/it]
|
||||||
|
88%|████████▊ | 7/8 [02:39<00:22, 22.77s/it]
|
||||||
|
100%|██████████| 8/8 [03:02<00:00, 22.75s/it]
|
||||||
|
100%|██████████| 8/8 [03:02<00:00, 22.83s/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: generating actions ...
|
||||||
>>> Step 5: interacting with world model ...
|
>>> Step 5: interacting with world model ...
|
||||||
@@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
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]
|
|
||||||
38%|███▊ | 3/8 [01:42<02:51, 34.21s/it]
|
|
||||||
50%|█████ | 4/8 [02:16<02:16, 34.18s/it]
|
|
||||||
62%|██████▎ | 5/8 [02:50<01:42, 34.15s/it]
|
|
||||||
75%|███████▌ | 6/8 [03:24<01:08, 34.11s/it]
|
|
||||||
88%|████████▊ | 7/8 [03:58<00:34, 34.10s/it]
|
|
||||||
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
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
>>> Step 5: generating actions ...
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||||
>>> Step 5: interacting with world model ...
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_cleanup_pencils/case2/unitree_z1_dual_arm_cleanup_pencils_case2.mp4",
|
"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",
|
"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/50_full_fs4.mp4",
|
||||||
"psnr": 47.91455867741451
|
"psnr": 44.38754096950435
|
||||||
}
|
}
|
||||||
@@ -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 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 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 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 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 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 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 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 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 18:03:19.431968: 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.
|
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
|
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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,31 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
|||||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
DEBUG:PIL.PngImagePlugin:STREAM b'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%| | 0/8 [00:00<?, ?it/s]
|
||||||
12%|█▎ | 1/8 [00:23<02:44, 23.45s/it]
|
12%|█▎ | 1/8 [00:23<02:44, 23.45s/it]
|
||||||
25%|██▌ | 2/8 [00:46<02:17, 22.99s/it]
|
25%|██▌ | 2/8 [00:46<02:17, 22.99s/it]
|
||||||
38%|███▊ | 3/8 [01:09<01:54, 22.94s/it]
|
38%|███▊ | 3/8 [01:09<01:54, 22.94s/it]
|
||||||
|
50%|█████ | 4/8 [01:31<01:31, 22.89s/it]
|
||||||
|
62%|██████▎ | 5/8 [01:54<01:08, 22.84s/it]
|
||||||
|
75%|███████▌ | 6/8 [02:17<00:45, 22.82s/it]
|
||||||
|
88%|████████▊ | 7/8 [02:40<00:22, 22.81s/it]
|
||||||
|
100%|██████████| 8/8 [03:02<00:00, 22.79s/it]
|
||||||
|
100%|██████████| 8/8 [03:02<00:00, 22.86s/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: generating actions ...
|
||||||
>>> Step 5: interacting with world model ...
|
>>> Step 5: interacting with world model ...
|
||||||
@@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
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]
|
|
||||||
75%|███████▌ | 6/8 [03:24<01:08, 34.08s/it]
|
|
||||||
88%|████████▊ | 7/8 [03:58<00:34, 34.09s/it]
|
|
||||||
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
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
>>> Step 5: generating actions ...
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||||
>>> Step 5: interacting with world model ...
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_cleanup_pencils/case3/unitree_z1_dual_arm_cleanup_pencils_case3.mp4",
|
"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",
|
"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case3/output/inference/100_full_fs4.mp4",
|
||||||
"psnr": 41.260758562627046
|
"psnr": 32.29959078097713
|
||||||
}
|
}
|
||||||
@@ -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 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 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 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 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 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 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 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 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 18:06:58.922497: 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.
|
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
|
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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,31 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
|||||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
DEBUG:PIL.PngImagePlugin:STREAM b'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%| | 0/8 [00:00<?, ?it/s]
|
||||||
12%|█▎ | 1/8 [00:23<02:44, 23.47s/it]
|
12%|█▎ | 1/8 [00:23<02:44, 23.47s/it]
|
||||||
25%|██▌ | 2/8 [00:46<02:18, 23.01s/it]
|
25%|██▌ | 2/8 [00:46<02:18, 23.01s/it]
|
||||||
38%|███▊ | 3/8 [01:09<01:54, 22.94s/it]
|
38%|███▊ | 3/8 [01:09<01:54, 22.94s/it]
|
||||||
|
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: generating actions ...
|
||||||
>>> Step 5: interacting with world model ...
|
>>> Step 5: interacting with world model ...
|
||||||
@@ -84,28 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
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
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
>>> Step 5: generating actions ...
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||||
>>> Step 5: interacting with world model ...
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_cleanup_pencils/case4/unitree_z1_dual_arm_cleanup_pencils_case4.mp4",
|
"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",
|
"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/200_full_fs4.mp4",
|
||||||
"psnr": 47.046499351779815
|
"psnr": 45.051241961122535
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 14:45:16.672502: 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 18:10:38.361867: 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 14:45:16.722666: 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 18:10:38.412126: 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 14:45:16.722716: 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 18:10:38.412182: 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 14:45:16.724025: 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 18:10:38.413493: 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 14:45:16.731562: 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 18:10:38.420963: 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 14:45:17.646917: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:10:39.335981: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,28 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
|||||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
DEBUG:PIL.PngImagePlugin:STREAM b'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%| | 0/7 [00:00<?, ?it/s]
|
||||||
14%|█▍ | 1/7 [00:23<02:20, 23.41s/it]
|
14%|█▍ | 1/7 [00:23<02:20, 23.41s/it]
|
||||||
29%|██▊ | 2/7 [00:46<01:54, 22.99s/it]
|
29%|██▊ | 2/7 [00:46<01:54, 22.99s/it]
|
||||||
43%|████▎ | 3/7 [01:08<01:31, 22.92s/it]
|
43%|████▎ | 3/7 [01:08<01:31, 22.92s/it]
|
||||||
|
57%|█████▋ | 4/7 [01:31<01:08, 22.88s/it]
|
||||||
|
71%|███████▏ | 5/7 [01:54<00:45, 22.82s/it]
|
||||||
|
86%|████████▌ | 6/7 [02:17<00:22, 22.79s/it]
|
||||||
|
100%|██████████| 7/7 [02:39<00:00, 22.75s/it]
|
||||||
|
100%|██████████| 7/7 [02:39<00:00, 22.84s/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: generating actions ...
|
||||||
>>> Step 4: interacting with world model ...
|
>>> Step 4: interacting with world model ...
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
@@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
29%|██▊ | 2/7 [01:08<02:50, 34.15s/it]
|
|
||||||
43%|████▎ | 3/7 [01:42<02:16, 34.13s/it]
|
|
||||||
57%|█████▋ | 4/7 [02:16<01:42, 34.09s/it]
|
|
||||||
71%|███████▏ | 5/7 [02:50<01:08, 34.09s/it]
|
|
||||||
86%|████████▌ | 6/7 [03:24<00:34, 34.09s/it]
|
|
||||||
100%|██████████| 7/7 [03:58<00:00, 34.08s/it]
|
|
||||||
100%|██████████| 7/7 [03:58<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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||||
>>> Step 4: interacting with world model ...
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||||
>>> Step 5: generating actions ...
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_stackbox/case1/unitree_z1_dual_arm_stackbox_case1.mp4",
|
"gt_video": "unitree_z1_dual_arm_stackbox/case1/unitree_z1_dual_arm_stackbox_case1.mp4",
|
||||||
"pred_video": "unitree_z1_dual_arm_stackbox/case1/output/inference/5_full_fs4.mp4",
|
"pred_video": "unitree_z1_dual_arm_stackbox/case1/output/inference/5_full_fs4.mp4",
|
||||||
"psnr": 43.97044934749157
|
"psnr": 42.717688631296596
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 14:49:54.901507: 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 18:13:57.132827: 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 14:49:54.951975: 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 18:13:57.182101: 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 14:49:54.952023: 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 18:13:57.182156: 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 14:49:54.953338: 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 18:13:57.183471: 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 14:49:54.960938: 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 18:13:57.190931: 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 14:49:55.888131: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:13:58.104923: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,28 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
|||||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
DEBUG:PIL.PngImagePlugin:STREAM b'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%| | 0/7 [00:00<?, ?it/s]
|
||||||
14%|█▍ | 1/7 [00:23<02:20, 23.34s/it]
|
14%|█▍ | 1/7 [00:23<02:20, 23.34s/it]
|
||||||
29%|██▊ | 2/7 [00:46<01:54, 22.98s/it]
|
29%|██▊ | 2/7 [00:46<01:54, 22.98s/it]
|
||||||
43%|████▎ | 3/7 [01:08<01:31, 22.91s/it]
|
43%|████▎ | 3/7 [01:08<01:31, 22.91s/it]
|
||||||
|
57%|█████▋ | 4/7 [01:31<01:08, 22.87s/it]
|
||||||
|
71%|███████▏ | 5/7 [01:54<00:45, 22.84s/it]
|
||||||
|
86%|████████▌ | 6/7 [02:17<00:22, 22.80s/it]
|
||||||
|
100%|██████████| 7/7 [02:39<00:00, 22.77s/it]
|
||||||
|
100%|██████████| 7/7 [02:39<00:00, 22.84s/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: generating actions ...
|
||||||
>>> Step 4: interacting with world model ...
|
>>> Step 4: interacting with world model ...
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
@@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
29%|██▊ | 2/7 [01:08<02:51, 34.26s/it]
|
|
||||||
43%|████▎ | 3/7 [01:42<02:16, 34.25s/it]
|
|
||||||
57%|█████▋ | 4/7 [02:16<01:42, 34.22s/it]
|
|
||||||
71%|███████▏ | 5/7 [02:50<01:08, 34.17s/it]
|
|
||||||
86%|████████▌ | 6/7 [03:25<00:34, 34.13s/it]
|
|
||||||
100%|██████████| 7/7 [03:59<00:00, 34.11s/it]
|
|
||||||
100%|██████████| 7/7 [03:59<00:00, 34.16s/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
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||||
>>> Step 4: interacting with world model ...
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||||
>>> Step 5: generating actions ...
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_stackbox/case2/unitree_z1_dual_arm_stackbox_case2.mp4",
|
"gt_video": "unitree_z1_dual_arm_stackbox/case2/unitree_z1_dual_arm_stackbox_case2.mp4",
|
||||||
"pred_video": "unitree_z1_dual_arm_stackbox/case2/output/inference/15_full_fs4.mp4",
|
"pred_video": "unitree_z1_dual_arm_stackbox/case2/output/inference/15_full_fs4.mp4",
|
||||||
"psnr": 43.70773432165555
|
"psnr": 44.90750363879194
|
||||||
}
|
}
|
||||||
@@ -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 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 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 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 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 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 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 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 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 18:17:16.082033: 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.
|
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
|
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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,28 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
|||||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
DEBUG:PIL.PngImagePlugin:STREAM b'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%| | 0/7 [00:00<?, ?it/s]
|
||||||
14%|█▍ | 1/7 [00:23<02:20, 23.41s/it]
|
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|
||||||
29%|██▊ | 2/7 [00:46<01:55, 23.03s/it]
|
29%|██▊ | 2/7 [00:46<01:55, 23.03s/it]
|
||||||
43%|████▎ | 3/7 [01:09<01:31, 22.95s/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: generating actions ...
|
||||||
>>> Step 4: interacting with world model ...
|
>>> Step 4: interacting with world model ...
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
@@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
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
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||||
>>> Step 4: interacting with world model ...
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||||
>>> Step 5: generating actions ...
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_stackbox/case3/unitree_z1_dual_arm_stackbox_case3.mp4",
|
"gt_video": "unitree_z1_dual_arm_stackbox/case3/unitree_z1_dual_arm_stackbox_case3.mp4",
|
||||||
"pred_video": "unitree_z1_dual_arm_stackbox/case3/output/inference/25_full_fs4.mp4",
|
"pred_video": "unitree_z1_dual_arm_stackbox/case3/output/inference/25_full_fs4.mp4",
|
||||||
"psnr": 48.68206289825236
|
"psnr": 39.63695040491171
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 14:59:11.849320: 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 18:20:35.210324: 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 14:59:11.899274: 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 18:20:35.259487: 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 14:59:11.899322: 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 18:20:35.259530: 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 14:59:11.900640: 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 18:20:35.260816: 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 14:59:11.908158: 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 18:20:35.268252: 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 14:59:12.830387: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:20:36.181189: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,28 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
|||||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
DEBUG:PIL.PngImagePlugin:STREAM b'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%| | 0/7 [00:00<?, ?it/s]
|
||||||
14%|█▍ | 1/7 [00:23<02:20, 23.43s/it]
|
14%|█▍ | 1/7 [00:23<02:20, 23.43s/it]
|
||||||
29%|██▊ | 2/7 [00:46<01:55, 23.03s/it]
|
29%|██▊ | 2/7 [00:46<01:55, 23.03s/it]
|
||||||
43%|████▎ | 3/7 [01:09<01:31, 22.96s/it]
|
43%|████▎ | 3/7 [01:09<01:31, 22.96s/it]
|
||||||
|
57%|█████▋ | 4/7 [01:31<01:08, 22.92s/it]
|
||||||
|
71%|███████▏ | 5/7 [01:54<00:45, 22.89s/it]
|
||||||
|
86%|████████▌ | 6/7 [02:17<00:22, 22.86s/it]
|
||||||
|
100%|██████████| 7/7 [02:40<00:00, 22.84s/it]
|
||||||
|
100%|██████████| 7/7 [02:40<00:00, 22.91s/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: generating actions ...
|
||||||
>>> Step 4: interacting with world model ...
|
>>> Step 4: interacting with world model ...
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
@@ -84,25 +105,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
29%|██▊ | 2/7 [01:08<02:50, 34.17s/it]
|
|
||||||
43%|████▎ | 3/7 [01:42<02:16, 34.13s/it]
|
|
||||||
57%|█████▋ | 4/7 [02:16<01:42, 34.12s/it]
|
|
||||||
71%|███████▏ | 5/7 [02:50<01:08, 34.07s/it]
|
|
||||||
86%|████████▌ | 6/7 [03:24<00:34, 34.07s/it]
|
|
||||||
100%|██████████| 7/7 [03:58<00:00, 34.06s/it]
|
|
||||||
100%|██████████| 7/7 [03:58<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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||||
>>> Step 4: interacting with world model ...
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||||
>>> Step 5: generating actions ...
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_stackbox/case4/unitree_z1_dual_arm_stackbox_case4.mp4",
|
"gt_video": "unitree_z1_dual_arm_stackbox/case4/unitree_z1_dual_arm_stackbox_case4.mp4",
|
||||||
"pred_video": "unitree_z1_dual_arm_stackbox/case4/output/inference/35_full_fs4.mp4",
|
"pred_video": "unitree_z1_dual_arm_stackbox/case4/output/inference/35_full_fs4.mp4",
|
||||||
"psnr": 42.117165235043196
|
"psnr": 42.34177660061245
|
||||||
}
|
}
|
||||||
@@ -1,10 +1,10 @@
|
|||||||
2026-02-11 16:58:21.710140: 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 18:23:54.635983: 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 16:58:21.759418: 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 18:23:54.685542: 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 16:58:21.759461: 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 18:23:54.685587: 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 16:58:21.760752: 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 18:23:54.686907: 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 16:58:21.768205: 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 18:23:54.694405: 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 16:58:22.691154: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:23:55.620959: 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.
|
||||||
@@ -34,7 +34,7 @@ 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<03:53, 23.38s/it]
|
9%|▉ | 1/11 [00:23<03:53, 23.38s/it]
|
||||||
18%|█▊ | 2/11 [00:46<03:26, 22.96s/it]
|
18%|█▊ | 2/11 [00:46<03:26, 22.96s/it]
|
||||||
@@ -118,6 +118,6 @@ DEBUG:PIL.Image:Importing XbmImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
|
|||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 15:10:45.687888: 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 18:28:48.801743: 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 15:10:45.738006: 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 18:28:48.852069: 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 15:10:45.738054: 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 18:28:48.852128: 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 15:10:45.739410: 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 18:28:48.853466: 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 15:10:45.747229: 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 18:28:48.861133: 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 15:10:46.687896: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:28:49.784354: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,40 @@ 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]
|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
91%|█████████ | 10/11 [03:48<00:22, 22.80s/it]
|
||||||
|
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|
||||||
|
100%|██████████| 11/11 [04:11<00:00, 22.88s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> 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 ...
|
||||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
18%|█▊ | 2/11 [01:08<05:08, 34.26s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
55%|█████▍ | 6/11 [03:24<02:50, 34.13s/it]
|
|
||||||
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|
|
||||||
73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it]
|
|
||||||
82%|████████▏ | 9/11 [05:07<01:08, 34.12s/it]
|
|
||||||
91%|█████████ | 10/11 [05:41<00:34, 34.11s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<00:00, 34.09s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 4: generating actions ...
|
|
||||||
>>> Step 4: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 7: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 7: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_stackbox_v2/case2/unitree_z1_dual_arm_stackbox_v2_case2.mp4",
|
"gt_video": "unitree_z1_dual_arm_stackbox_v2/case2/unitree_z1_dual_arm_stackbox_v2_case2.mp4",
|
||||||
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case2/output/inference/15_full_fs4.mp4",
|
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case2/output/inference/15_full_fs4.mp4",
|
||||||
"psnr": 33.945563782754554
|
"psnr": 27.46347145461597
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 15:17:41.661323: 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 18:33:43.119091: 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 15:17:41.711317: 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 18:33:43.169099: 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 15:17:41.711373: 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 18:33:43.169143: 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 15:17:41.712706: 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 18:33:43.170444: 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 15:17:41.720248: 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 18:33:43.177944: 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 15:17:42.650151: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:33:44.102499: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,40 @@ 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]
|
||||||
9%|▉ | 1/11 [00:23<03:53, 23.36s/it]
|
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|
||||||
18%|█▊ | 2/11 [00:46<03:26, 22.99s/it]
|
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|
||||||
27%|██▋ | 3/11 [01:08<03:03, 22.93s/it]
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
73%|███████▎ | 8/11 [03:02<01:08, 22.78s/it]
|
||||||
|
82%|████████▏ | 9/11 [03:25<00:45, 22.76s/it]
|
||||||
|
91%|█████████ | 10/11 [03:48<00:22, 22.74s/it]
|
||||||
|
100%|██████████| 11/11 [04:10<00:00, 22.73s/it]
|
||||||
|
100%|██████████| 11/11 [04:10<00:00, 22.81s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> 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 ...
|
||||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
18%|█▊ | 2/11 [01:08<05:08, 34.25s/it]
|
|
||||||
27%|██▋ | 3/11 [01:42<04:33, 34.23s/it]
|
|
||||||
36%|███▋ | 4/11 [02:16<03:59, 34.18s/it]
|
|
||||||
45%|████▌ | 5/11 [02:50<03:24, 34.17s/it]
|
|
||||||
55%|█████▍ | 6/11 [03:25<02:50, 34.15s/it]
|
|
||||||
64%|██████▎ | 7/11 [03:59<02:16, 34.13s/it]
|
|
||||||
73%|███████▎ | 8/11 [04:33<01:42, 34.12s/it]
|
|
||||||
82%|████████▏ | 9/11 [05:07<01:08, 34.09s/it]
|
|
||||||
91%|█████████ | 10/11 [05:41<00:34, 34.09s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<00:00, 34.09s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 4: generating actions ...
|
|
||||||
>>> Step 4: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 7: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 7: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_stackbox_v2/case3/unitree_z1_dual_arm_stackbox_v2_case3.mp4",
|
"gt_video": "unitree_z1_dual_arm_stackbox_v2/case3/unitree_z1_dual_arm_stackbox_v2_case3.mp4",
|
||||||
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case3/output/inference/25_full_fs4.mp4",
|
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case3/output/inference/25_full_fs4.mp4",
|
||||||
"psnr": 31.86126241517472
|
"psnr": 28.604047286947512
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 15:24:38.487806: 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 18:38:37.252690: 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 15:24:38.538144: 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 18:38:37.301897: 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 15:24:38.538200: 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 18:38:37.301950: 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 15:24:38.539554: 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 18:38:37.303254: 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 15:24:38.547185: 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 18:38:37.310679: 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 15:24:39.470885: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:38:38.237893: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,40 @@ 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
|
||||||
|
|
||||||
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
100%|██████████| 11/11 [04:11<00:00, 22.83s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> 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 ...
|
||||||
@@ -84,37 +117,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
18%|█▊ | 2/11 [01:08<05:09, 34.35s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
73%|███████▎ | 8/11 [04:33<01:42, 34.13s/it]
|
|
||||||
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|
|
||||||
91%|█████████ | 10/11 [05:41<00:34, 34.09s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<00:00, 34.09s/it]
|
|
||||||
100%|██████████| 11/11 [06:15<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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 7: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 7: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_dual_arm_stackbox_v2/case4/unitree_z1_dual_arm_stackbox_v2_case4.mp4",
|
"gt_video": "unitree_z1_dual_arm_stackbox_v2/case4/unitree_z1_dual_arm_stackbox_v2_case4.mp4",
|
||||||
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case4/output/inference/35_full_fs4.mp4",
|
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case4/output/inference/35_full_fs4.mp4",
|
||||||
"psnr": 39.90908062249536
|
"psnr": 25.578498826379903
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 15:31:35.657972: 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 18:43:31.592464: 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 15:31:35.707733: 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 18:43:31.641865: 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 15:31:35.707792: 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 18:43:31.641908: 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 15:31:35.709109: 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 18:43:31.643209: 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 15:31:35.716616: 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 18:43:31.650663: 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 15:31:36.648540: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:43:32.564662: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,43 @@ 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
|
||||||
|
|
||||||
|
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|
||||||
8%|▊ | 1/12 [00:23<04:17, 23.41s/it]
|
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|
||||||
17%|█▋ | 2/12 [00:46<03:50, 23.03s/it]
|
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|
||||||
25%|██▌ | 3/12 [01:09<03:26, 22.97s/it]
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
75%|███████▌ | 9/12 [03:25<01:08, 22.78s/it]
|
||||||
|
83%|████████▎ | 10/12 [03:48<00:45, 22.78s/it]
|
||||||
|
92%|█████████▏| 11/12 [04:11<00:22, 22.77s/it]
|
||||||
|
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|
||||||
|
100%|██████████| 12/12 [04:34<00:00, 22.83s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> Step 6: interacting with world model ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 7: generating actions ...
|
||||||
>>> Step 7: interacting with world model ...
|
>>> Step 7: interacting with world model ...
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
>>> Step 8: generating actions ...
|
>>> Step 8: generating actions ...
|
||||||
@@ -84,40 +120,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
17%|█▋ | 2/12 [01:08<05:42, 34.24s/it]
|
|
||||||
25%|██▌ | 3/12 [01:42<05:07, 34.20s/it]
|
|
||||||
33%|███▎ | 4/12 [02:16<04:33, 34.19s/it]
|
|
||||||
42%|████▏ | 5/12 [02:50<03:58, 34.14s/it]
|
|
||||||
50%|█████ | 6/12 [03:24<03:24, 34.09s/it]
|
|
||||||
58%|█████▊ | 7/12 [03:58<02:50, 34.07s/it]
|
|
||||||
67%|██████▋ | 8/12 [04:32<02:16, 34.07s/it]
|
|
||||||
75%|███████▌ | 9/12 [05:06<01:42, 34.05s/it]
|
|
||||||
83%|████████▎ | 10/12 [05:41<01:08, 34.06s/it]
|
|
||||||
92%|█████████▏| 11/12 [06:15<00:34, 34.08s/it]
|
|
||||||
100%|██████████| 12/12 [06:49<00:00, 34.07s/it]
|
|
||||||
100%|██████████| 12/12 [06:49<00:00, 34.10s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 7: generating actions ...
|
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 8: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 8: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_stackbox/case1/unitree_z1_stackbox_case1.mp4",
|
"gt_video": "unitree_z1_stackbox/case1/unitree_z1_stackbox_case1.mp4",
|
||||||
"pred_video": "unitree_z1_stackbox/case1/output/inference/5_full_fs4.mp4",
|
"pred_video": "unitree_z1_stackbox/case1/output/inference/5_full_fs4.mp4",
|
||||||
"psnr": 49.42336701518203
|
"psnr": 46.05271283048069
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 15:39:01.409308: 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 18:48:44.235405: 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 15:39:01.459136: 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 18:48:44.285138: 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 15:39:01.459190: 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 18:48:44.285181: 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 15:39:01.460507: 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 18:48:44.286531: 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 15:39:01.468019: 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 18:48:44.294141: 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 15:39:02.395912: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:48:45.209453: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,43 @@ 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
|
||||||
|
|
||||||
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
||||||
|
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
|
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|
||||||
|
100%|██████████| 12/12 [04:33<00:00, 22.80s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> Step 6: interacting with world model ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 7: generating actions ...
|
||||||
>>> Step 7: interacting with world model ...
|
>>> Step 7: interacting with world model ...
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
>>> Step 8: generating actions ...
|
>>> Step 8: generating actions ...
|
||||||
@@ -84,40 +120,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 12/12 [06:48<00:00, 34.05s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 7: generating actions ...
|
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 8: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 8: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_stackbox/case2/unitree_z1_stackbox_case2.mp4",
|
"gt_video": "unitree_z1_stackbox/case2/unitree_z1_stackbox_case2.mp4",
|
||||||
"pred_video": "unitree_z1_stackbox/case2/output/inference/15_full_fs4.mp4",
|
"pred_video": "unitree_z1_stackbox/case2/output/inference/15_full_fs4.mp4",
|
||||||
"psnr": 48.88265200549669
|
"psnr": 38.94694381287429
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 15:46:27.304090: 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 18:53:57.068615: 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 15:46:27.354074: 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 18:53:57.118271: 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 15:46:27.354120: 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 18:53:57.118312: 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 15:46:27.355468: 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 18:53:57.119665: 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 15:46:27.363130: 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 18:53:57.127266: 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 15:46:28.290783: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:53:58.042116: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,43 @@ 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%| | 0/12 [00:00<?, ?it/s]
|
||||||
8%|▊ | 1/12 [00:23<04:17, 23.43s/it]
|
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|
||||||
17%|█▋ | 2/12 [00:46<03:50, 23.02s/it]
|
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|
||||||
25%|██▌ | 3/12 [01:09<03:26, 22.96s/it]
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
67%|██████▋ | 8/12 [03:03<01:31, 22.80s/it]
|
||||||
|
75%|███████▌ | 9/12 [03:25<01:08, 22.78s/it]
|
||||||
|
83%|████████▎ | 10/12 [03:48<00:45, 22.77s/it]
|
||||||
|
92%|█████████▏| 11/12 [04:11<00:22, 22.76s/it]
|
||||||
|
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|
||||||
|
100%|██████████| 12/12 [04:33<00:00, 22.83s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> Step 6: interacting with world model ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 7: generating actions ...
|
||||||
>>> Step 7: interacting with world model ...
|
>>> Step 7: interacting with world model ...
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
>>> Step 8: generating actions ...
|
>>> Step 8: generating actions ...
|
||||||
@@ -84,40 +120,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
17%|█▋ | 2/12 [01:08<05:42, 34.24s/it]
|
|
||||||
25%|██▌ | 3/12 [01:42<05:07, 34.22s/it]
|
|
||||||
33%|███▎ | 4/12 [02:16<04:33, 34.16s/it]
|
|
||||||
42%|████▏ | 5/12 [02:50<03:58, 34.11s/it]
|
|
||||||
50%|█████ | 6/12 [03:24<03:24, 34.08s/it]
|
|
||||||
58%|█████▊ | 7/12 [03:58<02:50, 34.04s/it]
|
|
||||||
67%|██████▋ | 8/12 [04:32<02:16, 34.02s/it]
|
|
||||||
75%|███████▌ | 9/12 [05:06<01:41, 33.99s/it]
|
|
||||||
83%|████████▎ | 10/12 [05:40<01:07, 33.99s/it]
|
|
||||||
92%|█████████▏| 11/12 [06:14<00:33, 33.97s/it]
|
|
||||||
100%|██████████| 12/12 [06:48<00:00, 33.96s/it]
|
|
||||||
100%|██████████| 12/12 [06:48<00:00, 34.04s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 7: generating actions ...
|
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 8: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 8: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_stackbox/case3/unitree_z1_stackbox_case3.mp4",
|
"gt_video": "unitree_z1_stackbox/case3/unitree_z1_stackbox_case3.mp4",
|
||||||
"pred_video": "unitree_z1_stackbox/case3/output/inference/25_full_fs4.mp4",
|
"pred_video": "unitree_z1_stackbox/case3/output/inference/25_full_fs4.mp4",
|
||||||
"psnr": 50.884297816906816
|
"psnr": 49.489774674892764
|
||||||
}
|
}
|
||||||
@@ -1,13 +1,16 @@
|
|||||||
2026-02-11 15:53:52.504337: 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 18:59:09.688302: 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 15:53:52.554351: 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 18:59:09.737473: 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 15:53:52.554397: 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 18:59:09.737518: 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 15:53:52.555718: 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 18:59:09.738835: 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 15:53:52.563252: 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 18:59:09.746322: 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 15:53:53.493343: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
2026-02-11 18:59:10.660940: 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.
|
||||||
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
||||||
|
>>> Encoders (cond_stage_model, embedder) 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.
|
||||||
@@ -31,10 +34,43 @@ 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%| | 0/12 [00:00<?, ?it/s]
|
||||||
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|
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||||||
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||||||
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|
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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83%|████████▎ | 10/12 [03:48<00:45, 22.78s/it]
|
||||||
|
92%|█████████▏| 11/12 [04:11<00:22, 22.77s/it]
|
||||||
|
100%|██████████| 12/12 [04:33<00:00, 22.77s/it]
|
||||||
|
100%|██████████| 12/12 [04:33<00:00, 22.83s/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 ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 6: generating actions ...
|
||||||
|
>>> Step 6: interacting with world model ...
|
||||||
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
|
>>> Step 7: generating actions ...
|
||||||
>>> Step 7: interacting with world model ...
|
>>> Step 7: interacting with world model ...
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||||
>>> Step 8: generating actions ...
|
>>> Step 8: generating actions ...
|
||||||
@@ -84,40 +120,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
|||||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
||||||
|
|
||||||
17%|█▋ | 2/12 [01:08<05:41, 34.19s/it]
|
|
||||||
25%|██▌ | 3/12 [01:42<05:07, 34.15s/it]
|
|
||||||
33%|███▎ | 4/12 [02:16<04:32, 34.12s/it]
|
|
||||||
42%|████▏ | 5/12 [02:50<03:58, 34.09s/it]
|
|
||||||
50%|█████ | 6/12 [03:24<03:24, 34.05s/it]
|
|
||||||
58%|█████▊ | 7/12 [03:58<02:50, 34.03s/it]
|
|
||||||
67%|██████▋ | 8/12 [04:32<02:16, 34.04s/it]
|
|
||||||
75%|███████▌ | 9/12 [05:06<01:42, 34.03s/it]
|
|
||||||
83%|████████▎ | 10/12 [05:40<01:08, 34.01s/it]
|
|
||||||
92%|█████████▏| 11/12 [06:14<00:34, 34.03s/it]
|
|
||||||
100%|██████████| 12/12 [06:48<00:00, 34.02s/it]
|
|
||||||
100%|██████████| 12/12 [06:48<00:00, 34.05s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 5: generating actions ...
|
|
||||||
>>> Step 5: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 6: generating actions ...
|
|
||||||
>>> Step 6: interacting with world model ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> Step 7: generating actions ...
|
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||||
>>> Step 8: generating actions ...
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||||
>>> Step 8: interacting with world model ...
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
{
|
{
|
||||||
"gt_video": "unitree_z1_stackbox/case4/unitree_z1_stackbox_case4.mp4",
|
"gt_video": "unitree_z1_stackbox/case4/unitree_z1_stackbox_case4.mp4",
|
||||||
"pred_video": "unitree_z1_stackbox/case4/output/inference/35_full_fs4.mp4",
|
"pred_video": "unitree_z1_stackbox/case4/output/inference/35_full_fs4.mp4",
|
||||||
"psnr": 47.85197517791449
|
"psnr": 47.18724378194084
|
||||||
}
|
}
|
||||||
Reference in New Issue
Block a user