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e588182642
| Author | SHA1 | Date | |
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| e588182642 | |||
| e6c55a648c | |||
| fffc5a9956 |
3
.gitignore
vendored
3
.gitignore
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@@ -127,5 +127,6 @@ Data/Pretrained
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Data/utils.py
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Experiment/checkpoint
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Experiment/log
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ckpts/unifolm_wma_dual.ckpt
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*.ckpt
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*.0
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135
case4_run.log
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135
case4_run.log
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nohup: ignoring input
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
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__import__("pkg_resources").declare_namespace(__name__)
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2026-02-08 07:38:45.572744: 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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2026-02-08 07:38:45.576864: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
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2026-02-08 07:38:45.624825: 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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2026-02-08 07:38:45.624883: 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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2026-02-08 07:38:45.627150: 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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2026-02-08 07:38:45.638316: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
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2026-02-08 07:38:45.638803: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
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2026-02-08 07:38:46.426363: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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[rank: 0] Global seed set to 123
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
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@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
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INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
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INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
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INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
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AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
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INFO:root:Loaded ViT-H-14 model config.
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DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
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DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
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INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
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checkpoint = torch.load(checkpoint_path, map_location=map_location)
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INFO:root:Loaded ViT-H-14 model config.
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DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
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INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
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/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
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state_dict = torch.load(ckpt, map_location="cpu")
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>>> model checkpoint loaded.
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>>> Load pre-trained model ...
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INFO:root:***** Configing Data *****
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>>> unitree_z1_stackbox: 1 data samples loaded.
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>>> unitree_z1_stackbox: data stats loaded.
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>>> unitree_z1_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
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>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
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>>> unitree_g1_pack_camera: 1 data samples loaded.
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>>> unitree_g1_pack_camera: data stats loaded.
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>>> unitree_g1_pack_camera: normalizer initiated.
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>>> Dataset is successfully loaded ...
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>>> Generate 16 frames under each generation ...
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DEBUG:h5py._conv:Creating converter from 3 to 5
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DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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0%| | 0/7 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
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proj = linear(q, w, b)
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
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attn_output = scaled_dot_product_attention(
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
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attn_output = scaled_dot_product_attention(
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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DEBUG:PIL.Image:Importing BlpImagePlugin
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DEBUG:PIL.Image:Importing BmpImagePlugin
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DEBUG:PIL.Image:Importing BufrStubImagePlugin
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DEBUG:PIL.Image:Importing CurImagePlugin
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DEBUG:PIL.Image:Importing DcxImagePlugin
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DEBUG:PIL.Image:Importing DdsImagePlugin
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DEBUG:PIL.Image:Importing EpsImagePlugin
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DEBUG:PIL.Image:Importing FitsImagePlugin
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
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DEBUG:PIL.Image:Importing FliImagePlugin
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DEBUG:PIL.Image:Importing FpxImagePlugin
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing FtexImagePlugin
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DEBUG:PIL.Image:Importing GbrImagePlugin
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DEBUG:PIL.Image:Importing GifImagePlugin
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DEBUG:PIL.Image:Importing GribStubImagePlugin
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DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
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DEBUG:PIL.Image:Importing IcnsImagePlugin
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
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DEBUG:PIL.Image:Importing ImtImagePlugin
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DEBUG:PIL.Image:Importing IptcImagePlugin
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DEBUG:PIL.Image:Importing JpegImagePlugin
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DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
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DEBUG:PIL.Image:Importing McIdasImagePlugin
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DEBUG:PIL.Image:Importing MicImagePlugin
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing MpegImagePlugin
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DEBUG:PIL.Image:Importing MpoImagePlugin
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DEBUG:PIL.Image:Importing MspImagePlugin
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DEBUG:PIL.Image:Importing PalmImagePlugin
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DEBUG:PIL.Image:Importing PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PixarImagePlugin
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DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing PpmImagePlugin
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DEBUG:PIL.Image:Importing PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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DEBUG:PIL.Image:Importing SgiImagePlugin
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DEBUG:PIL.Image:Importing SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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DEBUG:PIL.Image:Importing TgaImagePlugin
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14%|█▍ | 1/7 [01:38<09:52, 98.73s/it]
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29%|██▊ | 2/7 [03:17<08:14, 98.85s/it]
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43%|████▎ | 3/7 [04:56<06:35, 98.80s/it]
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57%|█████▋ | 4/7 [06:35<04:56, 98.94s/it]
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71%|███████▏ | 5/7 [08:14<03:17, 98.93s/it]
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86%|████████▌ | 6/7 [09:53<01:38, 98.89s/it]
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100%|██████████| 7/7 [11:31<00:00, 98.81s/it]
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100%|██████████| 7/7 [11:31<00:00, 98.85s/it]
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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||||
>>> Step 5: generating actions ...
|
||||
439
ckpts/LICENSE
Normal file
439
ckpts/LICENSE
Normal file
@@ -0,0 +1,439 @@
|
||||
Attribution-NonCommercial-ShareAlike 4.0 International
|
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|
||||
Copyright (c) 2016-2025 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
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=======================================================================
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Creative Commons Corporation ("Creative Commons") is not a law firm and
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||||
38
ckpts/README.md
Normal file
38
ckpts/README.md
Normal file
@@ -0,0 +1,38 @@
|
||||
---
|
||||
tags:
|
||||
- robotics
|
||||
---
|
||||
|
||||
# UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family
|
||||
<p style="font-size: 1.2em;">
|
||||
<a href="https://unigen-x.github.io/unifolm-world-model-action.github.io"><strong>Project Page</strong></a> |
|
||||
<a href="https://github.com/unitreerobotics/unifolm-world-model-action"><strong>Code</strong></a> |
|
||||
<a href="https://huggingface.co/unitreerobotics/datasets"><strong>Dataset</strong></a>
|
||||
</p>
|
||||
<div align="center">
|
||||
<div align="justify">
|
||||
<b>UnifoLM-WMA-0</b> is Unitree‘s first open-source world-model–action architecture spanning multiple types of robotic embodiments, designed specifically for general-purpose robot learning. Its core component is a world-model capable of understanding the physical interactions between robots and the environments. This world-model provides two key functions: (a) <b>Simulation Engine</b> – operates as an interactive simulator to generate synthetic data for robot learning; (b) <b>Policy Enhancement</b> – connects with an action head and, by predicting future interaction processes with the world-model, further optimizes decision-making performance.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
## 🦾 Real Robot Deployment
|
||||
| <img src="assets/real_z1_stackbox.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> | <img src="assets/real_dual_stackbox.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> |
|
||||
|:---:|:---:|
|
||||
| <img src="assets/real_cleanup_pencils.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> | <img src="assets/real_g1_pack_camera.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> |
|
||||
|
||||
**Note: the top-right window shows the world model’s prediction of future environmental changes.**
|
||||
|
||||
## License
|
||||
The model is released under the CC BY-NC-SA 4.0 license as found in the [LICENSE](https://huggingface.co/unitreerobotics/UnifoLM-WMA-0/blob/main/LICENSE). You are responsible for ensuring that your use of Unitree AI Models complies with all applicable laws.
|
||||
|
||||
## Model Architecture
|
||||
|
||||
|
||||
## Citation
|
||||
```
|
||||
@misc{unifolm-wma-0,
|
||||
author = {Unitree},
|
||||
title = {UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family},
|
||||
year = {2025},
|
||||
}
|
||||
```
|
||||
BIN
ckpts/assets/real_cleanup_pencils.gif
Normal file
BIN
ckpts/assets/real_cleanup_pencils.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 22 MiB |
BIN
ckpts/assets/real_dual_stackbox.gif
Normal file
BIN
ckpts/assets/real_dual_stackbox.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 28 MiB |
BIN
ckpts/assets/real_g1_pack_camera.gif
Normal file
BIN
ckpts/assets/real_g1_pack_camera.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 25 MiB |
BIN
ckpts/assets/real_z1_stackbox.gif
Normal file
BIN
ckpts/assets/real_z1_stackbox.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 15 MiB |
BIN
ckpts/assets/world_model_interaction.gif
Normal file
BIN
ckpts/assets/world_model_interaction.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 4.3 MiB |
1
ckpts/configuration.json
Normal file
1
ckpts/configuration.json
Normal file
@@ -0,0 +1 @@
|
||||
{"framework": "pytorch", "task": "robotics", "allow_remote": true}
|
||||
@@ -222,7 +222,7 @@ data:
|
||||
test:
|
||||
target: unifolm_wma.data.wma_data.WMAData
|
||||
params:
|
||||
data_dir: '/home/qhy/unifolm-world-model-action/examples/world_model_interaction_prompts'
|
||||
data_dir: '/mnt/ASC1637/unifolm-world-model-action/examples/world_model_interaction_prompts'
|
||||
video_length: ${model.params.wma_config.params.temporal_length}
|
||||
frame_stride: 2
|
||||
load_raw_resolution: True
|
||||
|
||||
21
env.sh
Normal file
21
env.sh
Normal file
@@ -0,0 +1,21 @@
|
||||
# Note: This script should be sourced, not executed
|
||||
# Usage: source env.sh
|
||||
#
|
||||
# If you need render group permissions, run this first:
|
||||
# newgrp render
|
||||
# Then source this script:
|
||||
# source env.sh
|
||||
|
||||
# Initialize conda
|
||||
source /mnt/ASC1637/miniconda3/etc/profile.d/conda.sh
|
||||
|
||||
# Activate conda environment
|
||||
conda activate unifolm-wma-o
|
||||
|
||||
# Set HuggingFace cache directories
|
||||
export HF_HOME=/mnt/ASC1637/hf_home
|
||||
export HUGGINGFACE_HUB_CACHE=/mnt/ASC1637/hf_home/hub
|
||||
|
||||
echo "Environment configured successfully"
|
||||
echo "Conda environment: unifolm-wma-o"
|
||||
echo "HF_HOME: $HF_HOME"
|
||||
@@ -19,13 +19,13 @@ dependencies = [
|
||||
"pytorch-lightning==1.9.3",
|
||||
"pyyaml==6.0",
|
||||
"setuptools==65.6.3",
|
||||
"torch==2.3.1",
|
||||
"torchvision==0.18.1",
|
||||
#"torch==2.3.1",
|
||||
#"torchvision==0.18.1",
|
||||
"tqdm==4.66.5",
|
||||
"transformers==4.40.1",
|
||||
"moviepy==1.0.3",
|
||||
"av==12.3.0",
|
||||
"xformers==0.0.27",
|
||||
#"xformers==0.0.27",
|
||||
"gradio==4.39.0",
|
||||
"timm==0.9.10",
|
||||
"scikit-learn==1.5.1",
|
||||
|
||||
150
run.log
Normal file
150
run.log
Normal file
@@ -0,0 +1,150 @@
|
||||
nohup: ignoring input
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 08:15:49.934949: 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`.
|
||||
2026-02-08 08:15:49.937974: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:15:49.969069: 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
|
||||
2026-02-08 08:15:49.969100: 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
|
||||
2026-02-08 08:15:49.970909: 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
|
||||
2026-02-08 08:15:49.979005: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:15:49.979255: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 08:15:50.597743: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
>>> unitree_z1_stackbox: 1 data samples loaded.
|
||||
>>> unitree_z1_stackbox: data stats loaded.
|
||||
>>> unitree_z1_stackbox: normalizer initiated.
|
||||
>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded.
|
||||
>>> unitree_z1_dual_arm_stackbox: data stats loaded.
|
||||
>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
|
||||
>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
|
||||
>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
|
||||
>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
|
||||
>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
|
||||
>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
|
||||
>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
|
||||
>>> unitree_g1_pack_camera: 1 data samples loaded.
|
||||
>>> unitree_g1_pack_camera: data stats loaded.
|
||||
>>> unitree_g1_pack_camera: normalizer initiated.
|
||||
>>> Dataset is successfully loaded ...
|
||||
>>> Generate 16 frames under each generation ...
|
||||
DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
0%| | 0/12 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
DEBUG:PIL.Image:Importing BmpImagePlugin
|
||||
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing CurImagePlugin
|
||||
DEBUG:PIL.Image:Importing DcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing DdsImagePlugin
|
||||
DEBUG:PIL.Image:Importing EpsImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsImagePlugin
|
||||
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing FliImagePlugin
|
||||
DEBUG:PIL.Image:Importing FpxImagePlugin
|
||||
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
||||
DEBUG:PIL.Image:Importing FtexImagePlugin
|
||||
DEBUG:PIL.Image:Importing GbrImagePlugin
|
||||
DEBUG:PIL.Image:Importing GifImagePlugin
|
||||
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
||||
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
||||
DEBUG:PIL.Image:Importing IcoImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImImagePlugin
|
||||
DEBUG:PIL.Image:Importing ImtImagePlugin
|
||||
DEBUG:PIL.Image:Importing IptcImagePlugin
|
||||
DEBUG:PIL.Image:Importing JpegImagePlugin
|
||||
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
||||
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
||||
DEBUG:PIL.Image:Importing MicImagePlugin
|
||||
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
||||
DEBUG:PIL.Image:Importing MpegImagePlugin
|
||||
DEBUG:PIL.Image:Importing MpoImagePlugin
|
||||
DEBUG:PIL.Image:Importing MspImagePlugin
|
||||
DEBUG:PIL.Image:Importing PalmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcdImagePlugin
|
||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
||||
DEBUG:PIL.Image:Importing PpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing PsdImagePlugin
|
||||
DEBUG:PIL.Image:Importing QoiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SgiImagePlugin
|
||||
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
||||
DEBUG:PIL.Image:Importing SunImagePlugin
|
||||
DEBUG:PIL.Image:Importing TgaImagePlugin
|
||||
DEBUG:PIL.Image:Importing TiffImagePlugin
|
||||
DEBUG:PIL.Image:Importing WebPImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
8%|▊ | 1/12 [01:37<17:51, 97.37s/it]
|
||||
17%|█▋ | 2/12 [03:14<16:13, 97.31s/it]
|
||||
25%|██▌ | 3/12 [04:51<14:35, 97.26s/it]
|
||||
33%|███▎ | 4/12 [06:29<12:58, 97.25s/it]
|
||||
42%|████▏ | 5/12 [08:06<11:20, 97.24s/it]
|
||||
50%|█████ | 6/12 [09:43<09:43, 97.24s/it]
|
||||
58%|█████▊ | 7/12 [11:20<08:06, 97.27s/it]
|
||||
67%|██████▋ | 8/12 [12:58<06:29, 97.36s/it]
|
||||
75%|███████▌ | 9/12 [14:36<04:52, 97.49s/it]
|
||||
83%|████████▎ | 10/12 [16:13<03:15, 97.52s/it]
|
||||
92%|█████████▏| 11/12 [17:51<01:37, 97.47s/it]
|
||||
100%|██████████| 12/12 [19:28<00:00, 97.35s/it]
|
||||
100%|██████████| 12/12 [19:28<00:00, 97.35s/it]
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> 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 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
114
run_all_case.sh
114
run_all_case.sh
@@ -1,114 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
# 自动执行所有场景的所有case
|
||||
# 总共5个场景，每个场景4个case，共20个case
|
||||
# 设置环境变量（离线模式）
|
||||
export HF_HUB_OFFLINE=1
|
||||
export TRANSFORMERS_OFFLINE=1
|
||||
|
||||
# 颜色定义
|
||||
RED='\033[0;31m'
|
||||
GREEN='\033[0;32m'
|
||||
YELLOW='\033[1;33m'
|
||||
BLUE='\033[0;34m'
|
||||
NC='\033[0m' # No Color
|
||||
|
||||
# 定义所有场景
|
||||
SCENARIOS=(
|
||||
"unitree_g1_pack_camera"
|
||||
"unitree_z1_dual_arm_cleanup_pencils"
|
||||
"unitree_z1_dual_arm_stackbox"
|
||||
"unitree_z1_dual_arm_stackbox_v2"
|
||||
"unitree_z1_stackbox"
|
||||
)
|
||||
|
||||
# 定义case数量
|
||||
CASES=(1 2 3 4)
|
||||
|
||||
# 记录开始时间
|
||||
START_TIME=$(date +%s)
|
||||
LOG_FILE="run_all_cases_$(date +%Y%m%d_%H%M%S).log"
|
||||
|
||||
echo -e "${BLUE}========================================${NC}"
|
||||
echo -e "${BLUE}开始执行所有场景的case${NC}"
|
||||
echo -e "${BLUE}总共: ${#SCENARIOS[@]} 个场景 x ${#CASES[@]} 个case = $((${#SCENARIOS[@]} * ${#CASES[@]})) 个任务${NC}"
|
||||
echo -e "${BLUE}日志文件: ${LOG_FILE}${NC}"
|
||||
echo -e "${BLUE}========================================${NC}"
|
||||
echo ""
|
||||
|
||||
# 初始化计数器
|
||||
TOTAL_CASES=$((${#SCENARIOS[@]} * ${#CASES[@]}))
|
||||
CURRENT_CASE=0
|
||||
SUCCESS_COUNT=0
|
||||
FAIL_COUNT=0
|
||||
|
||||
# 记录失败的case
|
||||
declare -a FAILED_CASES
|
||||
|
||||
# 遍历所有场景
|
||||
for scenario in "${SCENARIOS[@]}"; do
|
||||
echo -e "${YELLOW}>>> 场景: ${scenario}${NC}"
|
||||
|
||||
# 遍历所有case
|
||||
for case_num in "${CASES[@]}"; do
|
||||
CURRENT_CASE=$((CURRENT_CASE + 1))
|
||||
case_dir="${scenario}/case${case_num}"
|
||||
script_path="${case_dir}/run_world_model_interaction.sh"
|
||||
|
||||
echo -e "${BLUE}[${CURRENT_CASE}/${TOTAL_CASES}] 执行: ${case_dir}${NC}"
|
||||
|
||||
# 检查脚本是否存在
|
||||
if [ ! -f "${script_path}" ]; then
|
||||
echo -e "${RED}错误: 脚本不存在 ${script_path}${NC}"
|
||||
FAIL_COUNT=$((FAIL_COUNT + 1))
|
||||
FAILED_CASES+=("${case_dir} (脚本不存在)")
|
||||
continue
|
||||
fi
|
||||
|
||||
# 执行脚本
|
||||
echo "开始时间: $(date '+%Y-%m-%d %H:%M:%S')"
|
||||
|
||||
if bash "${script_path}" >> "${LOG_FILE}" 2>&1; then
|
||||
echo -e "${GREEN}✓ 成功: ${case_dir}${NC}"
|
||||
SUCCESS_COUNT=$((SUCCESS_COUNT + 1))
|
||||
else
|
||||
echo -e "${RED}✗ 失败: ${case_dir}${NC}"
|
||||
FAIL_COUNT=$((FAIL_COUNT + 1))
|
||||
FAILED_CASES+=("${case_dir}")
|
||||
fi
|
||||
|
||||
echo "结束时间: $(date '+%Y-%m-%d %H:%M:%S')"
|
||||
echo ""
|
||||
done
|
||||
|
||||
echo ""
|
||||
done
|
||||
|
||||
# 计算总耗时
|
||||
END_TIME=$(date +%s)
|
||||
DURATION=$((END_TIME - START_TIME))
|
||||
HOURS=$((DURATION / 3600))
|
||||
MINUTES=$(((DURATION % 3600) / 60))
|
||||
SECONDS=$((DURATION % 60))
|
||||
|
||||
# 输出总结
|
||||
echo -e "${BLUE}========================================${NC}"
|
||||
echo -e "${BLUE}执行完成！${NC}"
|
||||
echo -e "${BLUE}========================================${NC}"
|
||||
echo -e "总任务数: ${TOTAL_CASES}"
|
||||
echo -e "${GREEN}成功: ${SUCCESS_COUNT}${NC}"
|
||||
echo -e "${RED}失败: ${FAIL_COUNT}${NC}"
|
||||
echo -e "总耗时: ${HOURS}小时 ${MINUTES}分钟 ${SECONDS}秒"
|
||||
echo -e "详细日志: ${LOG_FILE}"
|
||||
echo ""
|
||||
|
||||
# 如果有失败的case，列出来
|
||||
if [ ${FAIL_COUNT} -gt 0 ]; then
|
||||
echo -e "${RED}失败的case列表:${NC}"
|
||||
for failed_case in "${FAILED_CASES[@]}"; do
|
||||
echo -e "${RED} - ${failed_case}${NC}"
|
||||
done
|
||||
echo ""
|
||||
fi
|
||||
|
||||
echo -e "${BLUE}========================================${NC}"
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,61 +0,0 @@
|
||||
#!/bin/bash
|
||||
set -e
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
SCENARIOS=(
|
||||
unitree_g1_pack_camera
|
||||
unitree_z1_dual_arm_cleanup_pencils
|
||||
unitree_z1_dual_arm_stackbox
|
||||
unitree_z1_dual_arm_stackbox_v2
|
||||
unitree_z1_stackbox
|
||||
)
|
||||
|
||||
CASES=(case1 case2 case3 case4)
|
||||
|
||||
total=0
|
||||
success=0
|
||||
fail=0
|
||||
|
||||
for scenario in "${SCENARIOS[@]}"; do
|
||||
for case in "${CASES[@]}"; do
|
||||
case_dir="${scenario}/${case}"
|
||||
gt_video="${case_dir}/${scenario}_${case}.mp4"
|
||||
pred_video=$(ls "${case_dir}"/output/inference/*_full_fs*.mp4 2>/dev/null | head -1)
|
||||
output_file="${case_dir}/psnr_result.json"
|
||||
|
||||
total=$((total + 1))
|
||||
echo "=========================================="
|
||||
echo "[${total}/20] ${case_dir}"
|
||||
|
||||
if [ ! -f "$gt_video" ]; then
|
||||
echo " SKIP: GT video not found: $gt_video"
|
||||
fail=$((fail + 1))
|
||||
continue
|
||||
fi
|
||||
if [ -z "$pred_video" ]; then
|
||||
echo " SKIP: pred video not found in ${case_dir}/output/inference/"
|
||||
fail=$((fail + 1))
|
||||
continue
|
||||
fi
|
||||
|
||||
echo " GT: $gt_video"
|
||||
echo " Pred: $pred_video"
|
||||
echo " Out: $output_file"
|
||||
|
||||
if python3 psnr_score_for_challenge.py \
|
||||
--gt_video "$gt_video" \
|
||||
--pred_video "$pred_video" \
|
||||
--output_file "$output_file"; then
|
||||
success=$((success + 1))
|
||||
echo " DONE"
|
||||
else
|
||||
fail=$((fail + 1))
|
||||
echo " FAILED"
|
||||
fi
|
||||
done
|
||||
done
|
||||
|
||||
echo "=========================================="
|
||||
echo "Finished: ${success} success, ${fail} fail, ${total} total"
|
||||
@@ -1,4 +1,5 @@
|
||||
import argparse, os, glob
|
||||
from contextlib import nullcontext
|
||||
import pandas as pd
|
||||
import random
|
||||
import torch
|
||||
@@ -38,6 +39,68 @@ def get_device_from_parameters(module: nn.Module) -> torch.device:
|
||||
return next(iter(module.parameters())).device
|
||||
|
||||
|
||||
def apply_precision_settings(model: nn.Module, args: argparse.Namespace) -> nn.Module:
|
||||
"""Apply precision settings to model components based on command-line arguments.
|
||||
|
||||
Args:
|
||||
model (nn.Module): The model to apply precision settings to.
|
||||
args (argparse.Namespace): Parsed command-line arguments containing precision settings.
|
||||
|
||||
Returns:
|
||||
nn.Module: Model with precision settings applied.
|
||||
"""
|
||||
print(f">>> Applying precision settings:")
|
||||
print(f" - Diffusion dtype: {args.diffusion_dtype}")
|
||||
print(f" - Projector mode: {args.projector_mode}")
|
||||
print(f" - Encoder mode: {args.encoder_mode}")
|
||||
print(f" - VAE dtype: {args.vae_dtype}")
|
||||
|
||||
# 1. Set Diffusion backbone precision
|
||||
if args.diffusion_dtype == "bf16":
|
||||
# Convert diffusion model weights to bf16
|
||||
model.model.to(torch.bfloat16)
|
||||
model.diffusion_autocast_dtype = torch.bfloat16
|
||||
print(" ✓ Diffusion model weights converted to bfloat16")
|
||||
else:
|
||||
model.diffusion_autocast_dtype = None
|
||||
print(" ✓ Diffusion model using fp32")
|
||||
|
||||
# 2. Set Projector precision
|
||||
if args.projector_mode == "bf16_full":
|
||||
model.state_projector.to(torch.bfloat16)
|
||||
model.action_projector.to(torch.bfloat16)
|
||||
model.projector_autocast_dtype = None
|
||||
print(" ✓ Projectors converted to bfloat16")
|
||||
elif args.projector_mode == "autocast":
|
||||
model.projector_autocast_dtype = torch.bfloat16
|
||||
print(" ✓ Projectors will use autocast (weights fp32, compute bf16)")
|
||||
else:
|
||||
model.projector_autocast_dtype = None
|
||||
# fp32 mode: do nothing, keep original precision
|
||||
|
||||
# 3. Set Encoder precision
|
||||
if args.encoder_mode == "bf16_full":
|
||||
model.embedder.to(torch.bfloat16)
|
||||
model.image_proj_model.to(torch.bfloat16)
|
||||
model.encoder_autocast_dtype = None
|
||||
print(" ✓ Encoders converted to bfloat16")
|
||||
elif args.encoder_mode == "autocast":
|
||||
model.encoder_autocast_dtype = torch.bfloat16
|
||||
print(" ✓ Encoders will use autocast (weights fp32, compute bf16)")
|
||||
else:
|
||||
model.encoder_autocast_dtype = None
|
||||
# fp32 mode: do nothing, keep original precision
|
||||
|
||||
# 4. Set VAE precision
|
||||
if args.vae_dtype == "bf16":
|
||||
model.first_stage_model.to(torch.bfloat16)
|
||||
print(" ✓ VAE converted to bfloat16")
|
||||
else:
|
||||
print(" ✓ VAE kept in fp32 for best quality")
|
||||
|
||||
return model
|
||||
|
||||
|
||||
def write_video(video_path: str, stacked_frames: list, fps: int) -> None:
|
||||
"""Save a list of frames to a video file.
|
||||
|
||||
@@ -262,6 +325,11 @@ def get_latent_z(model, videos: Tensor) -> Tensor:
|
||||
"""
|
||||
b, c, t, h, w = videos.shape
|
||||
x = rearrange(videos, 'b c t h w -> (b t) c h w')
|
||||
|
||||
# Auto-detect VAE dtype and convert input
|
||||
vae_dtype = next(model.first_stage_model.parameters()).dtype
|
||||
x = x.to(dtype=vae_dtype)
|
||||
|
||||
z = model.encode_first_stage(x)
|
||||
z = rearrange(z, '(b t) c h w -> b c t h w', b=b, t=t)
|
||||
return z
|
||||
@@ -363,8 +431,20 @@ def image_guided_synthesis_sim_mode(
|
||||
|
||||
fs = torch.tensor([fs] * batch_size, dtype=torch.long, device=model.device)
|
||||
|
||||
# Auto-detect model dtype and convert inputs accordingly
|
||||
model_dtype = next(model.embedder.parameters()).dtype
|
||||
|
||||
img = observation['observation.images.top'].permute(0, 2, 1, 3, 4)
|
||||
cond_img = rearrange(img, 'b o c h w -> (b o) c h w')[-1:]
|
||||
cond_img = rearrange(img, 'b o c h w -> (b o) c h w')[-1:].to(dtype=model_dtype)
|
||||
|
||||
# Encoder autocast: weights stay fp32, compute in bf16
|
||||
enc_ac_dtype = getattr(model, 'encoder_autocast_dtype', None)
|
||||
if enc_ac_dtype is not None and model.device.type == 'cuda':
|
||||
enc_ctx = torch.autocast('cuda', dtype=enc_ac_dtype)
|
||||
else:
|
||||
enc_ctx = nullcontext()
|
||||
|
||||
with enc_ctx:
|
||||
cond_img_emb = model.embedder(cond_img)
|
||||
cond_img_emb = model.image_proj_model(cond_img_emb)
|
||||
|
||||
@@ -380,10 +460,21 @@ def image_guided_synthesis_sim_mode(
|
||||
prompts = [""] * batch_size
|
||||
cond_ins_emb = model.get_learned_conditioning(prompts)
|
||||
|
||||
cond_state_emb = model.state_projector(observation['observation.state'])
|
||||
# Auto-detect projector dtype and convert inputs
|
||||
projector_dtype = next(model.state_projector.parameters()).dtype
|
||||
|
||||
# Projector autocast: weights stay fp32, compute in bf16
|
||||
proj_ac_dtype = getattr(model, 'projector_autocast_dtype', None)
|
||||
if proj_ac_dtype is not None and model.device.type == 'cuda':
|
||||
proj_ctx = torch.autocast('cuda', dtype=proj_ac_dtype)
|
||||
else:
|
||||
proj_ctx = nullcontext()
|
||||
|
||||
with proj_ctx:
|
||||
cond_state_emb = model.state_projector(observation['observation.state'].to(dtype=projector_dtype))
|
||||
cond_state_emb = cond_state_emb + model.agent_state_pos_emb
|
||||
|
||||
cond_action_emb = model.action_projector(observation['action'])
|
||||
cond_action_emb = model.action_projector(observation['action'].to(dtype=projector_dtype))
|
||||
cond_action_emb = cond_action_emb + model.agent_action_pos_emb
|
||||
|
||||
if not sim_mode:
|
||||
@@ -406,7 +497,16 @@ def image_guided_synthesis_sim_mode(
|
||||
kwargs.update({"unconditional_conditioning_img_nonetext": None})
|
||||
cond_mask = None
|
||||
cond_z0 = None
|
||||
|
||||
# Setup autocast context for diffusion sampling
|
||||
autocast_dtype = getattr(model, 'diffusion_autocast_dtype', None)
|
||||
if autocast_dtype is not None and model.device.type == 'cuda':
|
||||
autocast_ctx = torch.autocast('cuda', dtype=autocast_dtype)
|
||||
else:
|
||||
autocast_ctx = nullcontext()
|
||||
|
||||
if ddim_sampler is not None:
|
||||
with autocast_ctx:
|
||||
samples, actions, states, intermedia = ddim_sampler.sample(
|
||||
S=ddim_steps,
|
||||
conditioning=cond,
|
||||
@@ -464,6 +564,17 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
|
||||
model.eval()
|
||||
print(f'>>> Load pre-trained model ...')
|
||||
|
||||
# Apply precision settings before moving to GPU
|
||||
model = apply_precision_settings(model, args)
|
||||
|
||||
# Export precision-converted checkpoint if requested
|
||||
if args.export_precision_ckpt:
|
||||
export_path = args.export_precision_ckpt
|
||||
os.makedirs(os.path.dirname(export_path) or '.', exist_ok=True)
|
||||
torch.save({"state_dict": model.state_dict()}, export_path)
|
||||
print(f">>> Precision-converted checkpoint saved to: {export_path}")
|
||||
return
|
||||
|
||||
# Build unnomalizer
|
||||
logging.info("***** Configing Data *****")
|
||||
data = instantiate_from_config(config.data)
|
||||
@@ -798,6 +909,35 @@ def get_parser():
|
||||
type=int,
|
||||
default=8,
|
||||
help="fps for the saving video")
|
||||
parser.add_argument(
|
||||
"--diffusion_dtype",
|
||||
type=str,
|
||||
choices=["fp32", "bf16"],
|
||||
default="bf16",
|
||||
help="Diffusion backbone precision (fp32/bf16)")
|
||||
parser.add_argument(
|
||||
"--projector_mode",
|
||||
type=str,
|
||||
choices=["fp32", "autocast", "bf16_full"],
|
||||
default="bf16_full",
|
||||
help="Projector precision mode (fp32/autocast/bf16_full)")
|
||||
parser.add_argument(
|
||||
"--encoder_mode",
|
||||
type=str,
|
||||
choices=["fp32", "autocast", "bf16_full"],
|
||||
default="bf16_full",
|
||||
help="Encoder precision mode (fp32/autocast/bf16_full)")
|
||||
parser.add_argument(
|
||||
"--vae_dtype",
|
||||
type=str,
|
||||
choices=["fp32", "bf16"],
|
||||
default="fp32",
|
||||
help="VAE precision (fp32/bf16, most affects image quality)")
|
||||
parser.add_argument(
|
||||
"--export_precision_ckpt",
|
||||
type=str,
|
||||
default=None,
|
||||
help="Export precision-converted checkpoint to this path, then exit.")
|
||||
return parser
|
||||
|
||||
|
||||
|
||||
@@ -1105,6 +1105,10 @@ class LatentDiffusion(DDPM):
|
||||
else:
|
||||
reshape_back = False
|
||||
|
||||
# Align input dtype with VAE weights (e.g. fp32 samples → bf16 VAE)
|
||||
vae_dtype = next(self.first_stage_model.parameters()).dtype
|
||||
z = z.to(dtype=vae_dtype)
|
||||
|
||||
if not self.perframe_ae:
|
||||
z = 1. / self.scale_factor * z
|
||||
results = self.first_stage_model.decode(z, **kwargs)
|
||||
@@ -2457,7 +2461,6 @@ class DiffusionWrapper(pl.LightningModule):
|
||||
Returns:
|
||||
Output from the inner diffusion model (tensor or tuple, depending on the model).
|
||||
"""
|
||||
|
||||
if self.conditioning_key is None:
|
||||
out = self.diffusion_model(x, t)
|
||||
elif self.conditioning_key == 'concat':
|
||||
|
||||
@@ -125,7 +125,7 @@ class CrossAttention(nn.Module):
|
||||
context = default(context, x)
|
||||
|
||||
if self.image_cross_attention and not spatial_self_attn:
|
||||
assert 1 > 2, ">>> ERROR: should setup xformers and use efficient_forward ..."
|
||||
# assert 1 > 2, ">>> ERROR: should setup xformers and use efficient_forward ..."
|
||||
context_agent_state = context[:, :self.agent_state_context_len, :]
|
||||
context_agent_action = context[:,
|
||||
self.agent_state_context_len:self.
|
||||
|
||||
@@ -1,19 +1,30 @@
|
||||
2026-02-11 19:49:03.885238: 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 19:49:03.934263: 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 19:49:03.934309: 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 19:49:03.935622: 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 19:49:03.943041: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 19:49:04.852993: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
2026-02-08 05:20:49.828675: 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`.
|
||||
2026-02-08 05:20:49.831563: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 05:20:49.861366: 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
|
||||
2026-02-08 05:20:49.861402: 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
|
||||
2026-02-08 05:20:49.862974: 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
|
||||
2026-02-08 05:20:49.870402: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 05:20:49.870647: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 05:20:50.486843: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +49,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/11 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +106,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
9%|▉ | 1/11 [01:38<16:25, 98.56s/it]
|
||||
18%|█▊ | 2/11 [03:16<14:44, 98.31s/it]
|
||||
@@ -122,6 +139,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 6: generating actions ...
|
||||
>>> Step 6: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
Binary file not shown.
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"gt_video": "unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4",
|
||||
"pred_video": "unitree_g1_pack_camera/case1/output/inference/0_full_fs6.mp4",
|
||||
"psnr": 35.615362167470806
|
||||
"pred_video": "unitree_g1_pack_camera/case1/output/inference/unitree_g1_pack_camera_case1_amd.mp4",
|
||||
"psnr": 16.415668383379177
|
||||
}
|
||||
@@ -1,19 +1,30 @@
|
||||
2026-02-11 20:04:06.049535: 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 20:04:06.099186: 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 20:04:06.099232: 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 20:04:06.100544: 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 20:04:06.108023: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 20:04:07.025500: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
2026-02-08 05:06:45.806187: 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`.
|
||||
2026-02-08 05:06:45.809295: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 05:06:45.840950: 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
|
||||
2026-02-08 05:06:45.840981: 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
|
||||
2026-02-08 05:06:45.842814: 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
|
||||
2026-02-08 05:06:45.851049: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 05:06:45.851316: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 05:06:47.225477: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +49,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/11 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +106,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
9%|▉ | 1/11 [01:37<16:14, 97.41s/it]
|
||||
18%|█▊ | 2/11 [03:14<14:35, 97.22s/it]
|
||||
@@ -122,6 +139,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 6: generating actions ...
|
||||
>>> Step 6: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 34.61979248212279
|
||||
"pred_video": "unitree_g1_pack_camera/case2/output/inference/unitree_g1_pack_camera_case2_amd.mp4",
|
||||
"psnr": 19.515250190529375
|
||||
}
|
||||
@@ -1,19 +1,30 @@
|
||||
2026-02-11 20:19:19.271045: 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 20:19:19.320688: 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 20:19:19.320734: 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 20:19:19.322059: 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 20:19:19.329606: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 20:19:20.248938: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
2026-02-08 05:08:32.803904: 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`.
|
||||
2026-02-08 05:08:32.807010: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 05:08:32.837936: 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
|
||||
2026-02-08 05:08:32.837978: 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
|
||||
2026-02-08 05:08:32.839785: 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
|
||||
2026-02-08 05:08:32.847835: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 05:08:32.848223: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 05:08:34.120114: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +49,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/11 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +106,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
9%|▉ | 1/11 [01:39<16:34, 99.46s/it]
|
||||
18%|█▊ | 2/11 [03:18<14:55, 99.48s/it]
|
||||
@@ -122,6 +139,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 6: generating actions ...
|
||||
>>> Step 6: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 37.034952654534486
|
||||
"pred_video": "unitree_g1_pack_camera/case3/output/inference/unitree_g1_pack_camera_case3_amd.mp4",
|
||||
"psnr": 19.429578160315536
|
||||
}
|
||||
@@ -1,19 +1,30 @@
|
||||
2026-02-11 20:34:34.563818: 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 20:34:34.613426: 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 20:34:34.613485: 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 20:34:34.614802: 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 20:34:34.622286: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 20:34:35.540506: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
2026-02-08 05:29:19.728303: 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`.
|
||||
2026-02-08 05:29:19.731620: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 05:29:19.761276: 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
|
||||
2026-02-08 05:29:19.761301: 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
|
||||
2026-02-08 05:29:19.762880: 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
|
||||
2026-02-08 05:29:19.770578: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 05:29:19.771072: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 05:29:21.043661: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +49,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/11 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +106,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
9%|▉ | 1/11 [01:37<16:18, 97.81s/it]
|
||||
18%|█▊ | 2/11 [03:15<14:38, 97.56s/it]
|
||||
@@ -122,6 +139,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 6: generating actions ...
|
||||
>>> Step 6: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 31.43390896360405
|
||||
"pred_video": "unitree_g1_pack_camera/case4/output/inference/unitree_g1_pack_camera_case4_amd.mp4",
|
||||
"psnr": 17.80386833747375
|
||||
}
|
||||
@@ -1,21 +1,41 @@
|
||||
2026-02-11 20:49:47.965949: 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 20:49:48.015942: 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 20:49:48.015997: 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 20:49:48.017330: 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 20:49:48.024854: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 20:49:48.943205: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
2026-02-08 12:22:55.885867: 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`.
|
||||
2026-02-08 12:22:55.890510: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 12:22:55.938683: 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
|
||||
2026-02-08 12:22:55.938759: 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
|
||||
2026-02-08 12:22:55.941091: 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
|
||||
2026-02-08 12:22:55.952450: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 12:22:55.952933: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 12:22:56.593653: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:149: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
>>> Applying precision settings:
|
||||
- Diffusion dtype: bf16
|
||||
- Projector mode: bf16_full
|
||||
- Encoder mode: bf16_full
|
||||
- VAE dtype: bf16
|
||||
✓ Diffusion model weights converted to bfloat16
|
||||
✓ Projectors converted to bfloat16
|
||||
✓ Encoders converted to bfloat16
|
||||
✓ VAE converted to bfloat16
|
||||
INFO:root:***** Configing Data *****
|
||||
>>> unitree_z1_stackbox: 1 data samples loaded.
|
||||
>>> unitree_z1_stackbox: data stats loaded.
|
||||
@@ -38,7 +58,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/8 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +115,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
12%|█▎ | 1/8 [01:24<09:53, 84.82s/it]
|
||||
25%|██▌ | 2/8 [02:49<08:26, 84.48s/it]
|
||||
@@ -113,6 +139,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 4: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 5: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 5: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 47.911564449209735
|
||||
"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/unitree_z1_dual_arm_cleanup_pencils_case1_amd.mp4",
|
||||
"psnr": 19.586376345676264
|
||||
}
|
||||
@@ -0,0 +1,5 @@
|
||||
{
|
||||
"gt_video": "/mnt/ASC1637/unifolm-world-model-action/unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/unitree_z1_dual_arm_cleanup_pencils_case1_amd.mp4",
|
||||
"pred_video": "/mnt/ASC1637/unifolm-world-model-action/unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/0_full_fs4.mp4",
|
||||
"psnr": 30.44844270035179
|
||||
}
|
||||
@@ -4,7 +4,7 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
|
||||
{
|
||||
time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
|
||||
--seed 123 \
|
||||
--ckpt_path ckpts/unifolm_wma_dual.ckpt \
|
||||
--ckpt_path ckpts/unifolm_wma_dual_mix_bf16.ckpt \
|
||||
--config configs/inference/world_model_interaction.yaml \
|
||||
--savedir "${res_dir}/output" \
|
||||
--bs 1 --height 320 --width 512 \
|
||||
@@ -20,5 +20,6 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
|
||||
--n_iter 8 \
|
||||
--timestep_spacing 'uniform_trailing' \
|
||||
--guidance_rescale 0.7 \
|
||||
--perframe_ae
|
||||
--perframe_ae \
|
||||
--vae_dtype bf16
|
||||
} 2>&1 | tee "${res_dir}/output.log"
|
||||
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 21:01:19.535243: 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 21:01:19.585230: 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 21:01:19.585275: 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 21:01:19.586600: 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 21:01:19.594107: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 21:01:20.510688: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 06:59:34.465946: 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`.
|
||||
2026-02-08 06:59:34.469367: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 06:59:34.500805: 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
|
||||
2026-02-08 06:59:34.500837: 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
|
||||
2026-02-08 06:59:34.502917: 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
|
||||
2026-02-08 06:59:34.511434: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 06:59:34.511678: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 06:59:35.478194: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/8 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
12%|█▎ | 1/8 [01:37<11:23, 97.57s/it]
|
||||
25%|██▌ | 2/8 [03:14<09:44, 97.48s/it]
|
||||
@@ -113,6 +132,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 4: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 5: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 5: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 48.344571927558974
|
||||
"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/unitree_z1_dual_arm_cleanup_pencils_case2_amd.mp4",
|
||||
"psnr": 20.484298972158296
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 21:13:04.812376: 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 21:13:04.862167: 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 21:13:04.862223: 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 21:13:04.863549: 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 21:13:04.871078: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 21:13:05.785070: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:18:52.629976: 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`.
|
||||
2026-02-08 07:18:52.633025: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:18:52.663985: 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
|
||||
2026-02-08 07:18:52.664018: 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
|
||||
2026-02-08 07:18:52.665837: 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
|
||||
2026-02-08 07:18:52.673889: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:18:52.674218: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:18:53.298338: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/8 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
12%|█▎ | 1/8 [01:40<11:43, 100.54s/it]
|
||||
25%|██▌ | 2/8 [03:20<10:02, 100.36s/it]
|
||||
@@ -113,6 +132,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 4: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 5: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 5: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 41.152374490134825
|
||||
"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case3/output/inference/unitree_z1_dual_arm_cleanup_pencils_case3_amd.mp4",
|
||||
"psnr": 21.20205061239349
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 21:24:42.443699: 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 21:24:42.494143: 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 21:24:42.494201: 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 21:24:42.495506: 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 21:24:42.503003: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 21:24:43.415898: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:22:15.333099: 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`.
|
||||
2026-02-08 07:22:15.336215: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:22:15.366489: 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
|
||||
2026-02-08 07:22:15.366522: 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
|
||||
2026-02-08 07:22:15.368294: 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
|
||||
2026-02-08 07:22:15.376202: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:22:15.376444: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:22:15.995383: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/8 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
12%|█▎ | 1/8 [01:37<11:23, 97.68s/it]
|
||||
25%|██▌ | 2/8 [03:15<09:47, 97.83s/it]
|
||||
@@ -113,6 +132,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 4: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 5: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 5: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 46.025723557253855
|
||||
"pred_video": "unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/unitree_z1_dual_arm_cleanup_pencils_case4_amd.mp4",
|
||||
"psnr": 21.130122583788612
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 21:36:14.761055: 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 21:36:14.811056: 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 21:36:14.811115: 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 21:36:14.812480: 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 21:36:14.820115: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 21:36:15.736583: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:24:40.357099: 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`.
|
||||
2026-02-08 07:24:40.360365: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:24:40.391744: 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
|
||||
2026-02-08 07:24:40.391772: 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
|
||||
2026-02-08 07:24:40.393608: 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
|
||||
2026-02-08 07:24:40.401837: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:24:40.402077: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:24:41.022382: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/7 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
14%|█▍ | 1/7 [01:41<10:09, 101.63s/it]
|
||||
29%|██▊ | 2/7 [03:20<08:18, 99.78s/it]
|
||||
@@ -110,6 +129,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 3: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 4: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 44.3480149502738
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox/case1/output/inference/unitree_z1_dual_arm_stackbox_case1_amd.mp4",
|
||||
"psnr": 21.258130518117493
|
||||
}
|
||||
@@ -2,7 +2,7 @@ res_dir="unitree_z1_dual_arm_stackbox/case1"
|
||||
dataset="unitree_z1_dual_arm_stackbox"
|
||||
|
||||
{
|
||||
time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
|
||||
time CUDA_VISIBLE_DEVICES=7 python3 scripts/evaluation/world_model_interaction.py \
|
||||
--seed 123 \
|
||||
--ckpt_path ckpts/unifolm_wma_dual.ckpt \
|
||||
--config configs/inference/world_model_interaction.yaml \
|
||||
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 21:46:41.375935: 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 21:46:41.426557: 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 21:46:41.426614: 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 21:46:41.427937: 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 21:46:41.435507: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 21:46:42.361310: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:25:18.653033: 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`.
|
||||
2026-02-08 07:25:18.656060: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:25:18.687077: 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
|
||||
2026-02-08 07:25:18.687119: 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
|
||||
2026-02-08 07:25:18.688915: 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
|
||||
2026-02-08 07:25:18.697008: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:25:18.697255: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:25:19.338303: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/7 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
14%|█▍ | 1/7 [01:39<09:56, 99.35s/it]
|
||||
29%|██▊ | 2/7 [03:18<08:17, 99.50s/it]
|
||||
@@ -110,6 +129,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 3: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 4: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 39.867728254007716
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox/case2/output/inference/unitree_z1_dual_arm_stackbox_case2_amd.mp4",
|
||||
"psnr": 23.878153424077645
|
||||
}
|
||||
@@ -2,7 +2,7 @@ res_dir="unitree_z1_dual_arm_stackbox/case2"
|
||||
dataset="unitree_z1_dual_arm_stackbox"
|
||||
|
||||
{
|
||||
time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
|
||||
time CUDA_VISIBLE_DEVICES=6 python3 scripts/evaluation/world_model_interaction.py \
|
||||
--seed 123 \
|
||||
--ckpt_path ckpts/unifolm_wma_dual.ckpt \
|
||||
--config configs/inference/world_model_interaction.yaml \
|
||||
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 21:57:17.623993: 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 21:57:17.673835: 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 21:57:17.673891: 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 21:57:17.675211: 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 21:57:17.682716: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 21:57:18.593525: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:35:33.682231: 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`.
|
||||
2026-02-08 07:35:33.685275: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:35:33.716682: 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
|
||||
2026-02-08 07:35:33.716728: 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
|
||||
2026-02-08 07:35:33.718523: 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
|
||||
2026-02-08 07:35:33.726756: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:35:33.727105: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:35:34.356722: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/7 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
14%|█▍ | 1/7 [01:41<10:06, 101.02s/it]
|
||||
29%|██▊ | 2/7 [03:23<08:29, 101.84s/it]
|
||||
@@ -110,6 +129,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 3: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 4: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 39.19101039445159
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox/case3/output/inference/unitree_z1_dual_arm_stackbox_case3_amd.mp4",
|
||||
"psnr": 25.400458754751128
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 22:07:43.398736: 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 22:07:43.448264: 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 22:07:43.448321: 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 22:07:43.449636: 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 22:07:43.457127: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 22:07:44.370935: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:38:45.572744: 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`.
|
||||
2026-02-08 07:38:45.576864: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:38:45.624825: 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
|
||||
2026-02-08 07:38:45.624883: 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
|
||||
2026-02-08 07:38:45.627150: 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
|
||||
2026-02-08 07:38:45.638316: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:38:45.638803: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:38:46.426363: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/7 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
14%|█▍ | 1/7 [01:38<09:52, 98.73s/it]
|
||||
29%|██▊ | 2/7 [03:17<08:14, 98.85s/it]
|
||||
@@ -110,6 +129,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 3: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 4: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
>>> Step 4: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 5: generating actions ...
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 40.29563315341769
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox/case4/output/inference/unitree_z1_dual_arm_stackbox_case4_amd.mp4",
|
||||
"psnr": 24.098958457373858
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 22:18:17.396072: 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 22:18:17.446095: 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 22:18:17.446154: 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 22:18:17.447480: 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 22:18:17.455025: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 22:18:18.367007: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:51:23.961486: 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`.
|
||||
2026-02-08 07:51:24.200063: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:51:24.522299: 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
|
||||
2026-02-08 07:51:24.522350: 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
|
||||
2026-02-08 07:51:24.528237: 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
|
||||
2026-02-08 07:51:24.579400: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:51:24.579644: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:51:25.781311: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/11 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
9%|▉ | 1/11 [01:38<16:20, 98.04s/it]
|
||||
18%|█▊ | 2/11 [03:15<14:40, 97.81s/it]
|
||||
@@ -122,6 +141,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 6: generating actions ...
|
||||
>>> Step 6: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"gt_video": "unitree_z1_dual_arm_stackbox_v2/case1/unitree_z1_dual_arm_stackbox_v2_case1.mp4",
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case1/output/inference/5_full_fs4.mp4",
|
||||
"psnr": 25.812741419225095
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case1/output/inference/unitree_z1_dual_arm_stackbox_v2_case1_amd.mp4",
|
||||
"psnr": 18.126776535969576
|
||||
}
|
||||
@@ -2,7 +2,7 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case1"
|
||||
dataset="unitree_z1_dual_arm_stackbox_v2"
|
||||
|
||||
{
|
||||
time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
|
||||
time CUDA_VISIBLE_DEVICES=7 python3 scripts/evaluation/world_model_interaction.py \
|
||||
--seed 123 \
|
||||
--ckpt_path ckpts/unifolm_wma_dual.ckpt \
|
||||
--config configs/inference/world_model_interaction.yaml \
|
||||
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 22:33:42.261398: 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 22:33:42.310786: 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 22:33:42.310845: 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 22:33:42.312191: 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 22:33:42.319738: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 22:33:43.232517: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:56:31.144789: 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`.
|
||||
2026-02-08 07:56:31.148256: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:56:31.178870: 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
|
||||
2026-02-08 07:56:31.178898: 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
|
||||
2026-02-08 07:56:31.180683: 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
|
||||
2026-02-08 07:56:31.188800: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:56:31.189142: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:56:31.810098: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/11 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
9%|▉ | 1/11 [01:40<16:41, 100.16s/it]
|
||||
18%|█▊ | 2/11 [03:20<15:04, 100.47s/it]
|
||||
@@ -122,6 +141,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 6: generating actions ...
|
||||
>>> Step 6: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 33.90444714332389
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case2/output/inference/unitree_z1_dual_arm_stackbox_v2_case2_amd.mp4",
|
||||
"psnr": 19.38130614773096
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 22:48:49.761688: 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 22:48:49.811395: 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 22:48:49.811456: 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 22:48:49.812798: 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 22:48:49.820307: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 22:48:50.732941: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 07:56:04.467082: 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`.
|
||||
2026-02-08 07:56:04.470145: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:56:04.502248: 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
|
||||
2026-02-08 07:56:04.502277: 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
|
||||
2026-02-08 07:56:04.504088: 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
|
||||
2026-02-08 07:56:04.512557: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 07:56:04.512830: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 07:56:05.259641: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/11 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
9%|▉ | 1/11 [01:38<16:20, 98.03s/it]
|
||||
18%|█▊ | 2/11 [03:16<14:43, 98.19s/it]
|
||||
@@ -122,6 +141,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 6: generating actions ...
|
||||
>>> Step 6: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 34.50192428908007
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case3/output/inference/unitree_z1_dual_arm_stackbox_v2_case3_amd.mp4",
|
||||
"psnr": 18.74462122425683
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 23:04:15.762959: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`.
|
||||
2026-02-11 23:04:15.814243: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
|
||||
2026-02-11 23:04:15.814301: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
|
||||
2026-02-11 23:04:15.815653: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
|
||||
2026-02-11 23:04:15.823287: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 23:04:16.742609: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 08:04:16.104516: 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`.
|
||||
2026-02-08 08:04:16.109112: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:04:16.138703: 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
|
||||
2026-02-08 08:04:16.138737: 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
|
||||
2026-02-08 08:04:16.140302: 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
|
||||
2026-02-08 08:04:16.147672: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:04:16.147903: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 08:04:17.363218: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/11 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
9%|▉ | 1/11 [01:39<16:32, 99.26s/it]
|
||||
18%|█▊ | 2/11 [03:17<14:49, 98.81s/it]
|
||||
@@ -122,6 +141,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>> Step 6: generating actions ...
|
||||
>>> Step 6: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"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",
|
||||
"psnr": 38.797893493652516
|
||||
"pred_video": "unitree_z1_dual_arm_stackbox_v2/case4/output/inference/unitree_z1_dual_arm_stackbox_v2_case4_amd.mp4",
|
||||
"psnr": 19.526448380726254
|
||||
}
|
||||
@@ -2,7 +2,7 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case4"
|
||||
dataset="unitree_z1_dual_arm_stackbox_v2"
|
||||
|
||||
{
|
||||
time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
|
||||
time CUDA_VISIBLE_DEVICES=6 python3 scripts/evaluation/world_model_interaction.py \
|
||||
--seed 123 \
|
||||
--ckpt_path ckpts/unifolm_wma_dual.ckpt \
|
||||
--config configs/inference/world_model_interaction.yaml \
|
||||
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 23:19:36.475817: 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 23:19:36.525118: 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 23:19:36.525172: 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 23:19:36.526479: 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 23:19:36.533981: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 23:19:37.461985: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 08:12:47.424053: 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`.
|
||||
2026-02-08 08:12:47.427280: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:12:47.458253: 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
|
||||
2026-02-08 08:12:47.458288: 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
|
||||
2026-02-08 08:12:47.462758: 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
|
||||
2026-02-08 08:12:47.518283: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:12:47.518566: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 08:12:48.593011: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/12 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
8%|▊ | 1/12 [01:38<18:08, 98.94s/it]
|
||||
17%|█▋ | 2/12 [03:18<16:30, 99.01s/it]
|
||||
@@ -125,6 +144,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"gt_video": "unitree_z1_stackbox/case1/unitree_z1_stackbox_case1.mp4",
|
||||
"pred_video": "unitree_z1_stackbox/case1/output/inference/5_full_fs4.mp4",
|
||||
"psnr": 42.83913947323794
|
||||
"pred_video": "unitree_z1_stackbox/case1/output/inference/unitree_z1_stackbox_case1_amd.mp4",
|
||||
"psnr": 19.81391789862606
|
||||
}
|
||||
@@ -2,7 +2,7 @@ res_dir="unitree_z1_stackbox/case1"
|
||||
dataset="unitree_z1_stackbox"
|
||||
|
||||
{
|
||||
time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
|
||||
time CUDA_VISIBLE_DEVICES=5 python3 scripts/evaluation/world_model_interaction.py \
|
||||
--seed 123 \
|
||||
--ckpt_path ckpts/unifolm_wma_dual.ckpt \
|
||||
--config configs/inference/world_model_interaction.yaml \
|
||||
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 23:35:52.961572: 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 23:35:53.011562: 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 23:35:53.011622: 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 23:35:53.012961: 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 23:35:53.020520: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 23:35:53.953177: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 08:15:49.934949: 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`.
|
||||
2026-02-08 08:15:49.937974: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:15:49.969069: 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
|
||||
2026-02-08 08:15:49.969100: 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
|
||||
2026-02-08 08:15:49.970909: 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
|
||||
2026-02-08 08:15:49.979005: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:15:49.979255: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 08:15:50.597743: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/12 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
8%|▊ | 1/12 [01:37<17:51, 97.37s/it]
|
||||
17%|█▋ | 2/12 [03:14<16:13, 97.31s/it]
|
||||
@@ -125,6 +144,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"gt_video": "unitree_z1_stackbox/case2/unitree_z1_stackbox_case2.mp4",
|
||||
"pred_video": "unitree_z1_stackbox/case2/output/inference/15_full_fs4.mp4",
|
||||
"psnr": 48.64571989587276
|
||||
"pred_video": "unitree_z1_stackbox/case2/output/inference/unitree_z1_stackbox_case2_amd.mp4",
|
||||
"psnr": 21.083821459054743
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-11 23:51:59.440508: 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 23:51:59.489849: 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 23:51:59.489897: 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 23:51:59.491194: 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 23:51:59.498659: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-11 23:52:00.422248: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 08:16:22.299521: 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`.
|
||||
2026-02-08 08:16:22.302545: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:16:22.335354: 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
|
||||
2026-02-08 08:16:22.335389: 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
|
||||
2026-02-08 08:16:22.337179: 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
|
||||
2026-02-08 08:16:22.345296: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:16:22.345548: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 08:16:23.008743: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
[rank: 0] Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/12 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
8%|▊ | 1/12 [01:39<18:16, 99.64s/it]
|
||||
17%|█▋ | 2/12 [03:19<16:35, 99.56s/it]
|
||||
@@ -125,6 +144,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"gt_video": "unitree_z1_stackbox/case3/unitree_z1_stackbox_case3.mp4",
|
||||
"pred_video": "unitree_z1_stackbox/case3/output/inference/25_full_fs4.mp4",
|
||||
"psnr": 45.127553229898034
|
||||
"pred_video": "unitree_z1_stackbox/case3/output/inference/unitree_z1_stackbox_case3_amd.mp4",
|
||||
"psnr": 21.322784880212172
|
||||
}
|
||||
@@ -1,19 +1,32 @@
|
||||
2026-02-12 00:08:05.532356: 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`.
|
||||
2026-02-12 00:08:05.582134: 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
|
||||
2026-02-12 00:08:05.582180: 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
|
||||
2026-02-12 00:08:05.583503: 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
|
||||
2026-02-12 00:08:05.591049: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
|
||||
To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-12 00:08:06.523218: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
||||
__import__("pkg_resources").declare_namespace(__name__)
|
||||
2026-02-08 08:25:54.657305: 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`.
|
||||
2026-02-08 08:25:54.660628: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:25:54.691237: 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
|
||||
2026-02-08 08:25:54.691275: 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
|
||||
2026-02-08 08:25:54.693046: 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
|
||||
2026-02-08 08:25:54.701142: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
|
||||
2026-02-08 08:25:54.701413: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
||||
2026-02-08 08:25:55.801367: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
||||
Global seed set to 123
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
|
||||
@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
|
||||
INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
|
||||
AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
checkpoint = torch.load(checkpoint_path, map_location=map_location)
|
||||
INFO:root:Loaded ViT-H-14 model config.
|
||||
DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
|
||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
||||
/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
|
||||
state_dict = torch.load(ckpt, map_location="cpu")
|
||||
>>> model checkpoint loaded.
|
||||
>>> Load pre-trained model ...
|
||||
INFO:root:***** Configing Data *****
|
||||
@@ -38,7 +51,13 @@ DEBUG:h5py._conv:Creating converter from 3 to 5
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
||||
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
|
||||
|
||||
|
||||
0%| | 0/12 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
|
||||
proj = linear(q, w, b)
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
|
||||
attn_output = scaled_dot_product_attention(
|
||||
>>> Step 0: generating actions ...
|
||||
>>> Step 0: interacting with world model ...
|
||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
||||
@@ -89,7 +108,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing WmfImagePlugin
|
||||
DEBUG:PIL.Image:Importing XbmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
|
||||
8%|▊ | 1/12 [01:37<17:51, 97.38s/it]
|
||||
17%|█▋ | 2/12 [03:14<16:12, 97.24s/it]
|
||||
@@ -125,6 +144,6 @@ DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 7: generating actions ...
|
||||
>>> Step 7: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
||||
>>> Step 8: generating actions ...
|
||||
>>> Step 8: interacting with world model ...
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
{
|
||||
"gt_video": "unitree_z1_stackbox/case4/unitree_z1_stackbox_case4.mp4",
|
||||
"pred_video": "unitree_z1_stackbox/case4/output/inference/35_full_fs4.mp4",
|
||||
"psnr": 50.642542240144444
|
||||
"pred_video": "unitree_z1_stackbox/case4/output/inference/unitree_z1_stackbox_case4_amd.mp4",
|
||||
"psnr": 25.32928948331741
|
||||
}
|
||||
@@ -2,7 +2,7 @@ res_dir="unitree_z1_stackbox/case4"
|
||||
dataset="unitree_z1_stackbox"
|
||||
|
||||
{
|
||||
time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
|
||||
time CUDA_VISIBLE_DEVICES=7 python3 scripts/evaluation/world_model_interaction.py \
|
||||
--seed 123 \
|
||||
--ckpt_path ckpts/unifolm_wma_dual.ckpt \
|
||||
--config configs/inference/world_model_interaction.yaml \
|
||||
|
||||
Reference in New Issue
Block a user