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qhy5
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fffc5a9956
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.gitignore
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.gitignore
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@@ -55,7 +55,7 @@ coverage.xml
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*.pot
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*.pot
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# Django stuff:
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# Django stuff:
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*.log
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local_settings.py
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local_settings.py
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db.sqlite3
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db.sqlite3
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@@ -121,11 +121,12 @@ localTest/
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fig/
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fig/
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figure/
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figure/
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*.mp4
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*.mp4
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*.json
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Data/ControlVAE.yml
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Data/ControlVAE.yml
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Data/Misc
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Data/Misc
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Data/Pretrained
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Data/Pretrained
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Data/utils.py
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Data/utils.py
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Experiment/checkpoint
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Experiment/checkpoint
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Experiment/log
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Experiment/log
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ckpts/unifolm_wma_dual.ckpt
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*.0
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*.ckpt
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439
ckpts/LICENSE
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439
ckpts/LICENSE
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@@ -0,0 +1,439 @@
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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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Using Creative Commons Public Licenses
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Your exercise of the Licensed Rights is expressly made subject to the
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the Licensor (including by pseudonym if
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|
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b. ShareAlike.
|
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|
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In addition to the conditions in Section 3(a), if You Share
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Adapted Material You produce, the following conditions also apply.
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3. You may not offer or impose any additional or different terms
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Measures to, Adapted Material that restrict exercise of the
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rights granted under the Adapter's License You apply.
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|
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Section 4 -- Sui Generis Database Rights.
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|
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Where the Licensed Rights include Sui Generis Database Rights that
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apply to Your use of the Licensed Material:
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|
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|
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to extract, reuse, reproduce, and Share all or a substantial
|
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For the avoidance of doubt, this Section 4 supplements and does not
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|
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a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE
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ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT
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INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES,
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COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR
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USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN
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ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR
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DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR
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IN PART, THIS LIMITATION MAY NOT APPLY TO YOU.
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||||||
|
waiver of all liability.
|
||||||
|
|
||||||
|
|
||||||
|
Section 6 -- Term and Termination.
|
||||||
|
|
||||||
|
a. This Public License applies for the term of the Copyright and
|
||||||
|
Similar Rights licensed here. However, if You fail to comply with
|
||||||
|
this Public License, then Your rights under this Public License
|
||||||
|
terminate automatically.
|
||||||
|
|
||||||
|
b. Where Your right to use the Licensed Material has terminated under
|
||||||
|
Section 6(a), it reinstates:
|
||||||
|
|
||||||
|
1. automatically as of the date the violation is cured, provided
|
||||||
|
it is cured within 30 days of Your discovery of the
|
||||||
|
violation; or
|
||||||
|
|
||||||
|
2. upon express reinstatement by the Licensor.
|
||||||
|
|
||||||
|
For the avoidance of doubt, this Section 6(b) does not affect any
|
||||||
|
right the Licensor may have to seek remedies for Your violations
|
||||||
|
of this Public License.
|
||||||
|
|
||||||
|
c. For the avoidance of doubt, the Licensor may also offer the
|
||||||
|
Licensed Material under separate terms or conditions or stop
|
||||||
|
distributing the Licensed Material at any time; however, doing so
|
||||||
|
will not terminate this Public License.
|
||||||
|
|
||||||
|
d. Sections 1, 5, 6, 7, and 8 survive termination of this Public
|
||||||
|
License.
|
||||||
|
|
||||||
|
|
||||||
|
Section 7 -- Other Terms and Conditions.
|
||||||
|
|
||||||
|
a. The Licensor shall not be bound by any additional or different
|
||||||
|
terms or conditions communicated by You unless expressly agreed.
|
||||||
|
|
||||||
|
b. Any arrangements, understandings, or agreements regarding the
|
||||||
|
Licensed Material not stated herein are separate from and
|
||||||
|
independent of the terms and conditions of this Public License.
|
||||||
|
|
||||||
|
|
||||||
|
Section 8 -- Interpretation.
|
||||||
|
|
||||||
|
a. For the avoidance of doubt, this Public License does not, and
|
||||||
|
shall not be interpreted to, reduce, limit, restrict, or impose
|
||||||
|
conditions on any use of the Licensed Material that could lawfully
|
||||||
|
be made without permission under this Public License.
|
||||||
|
|
||||||
|
b. To the extent possible, if any provision of this Public License is
|
||||||
|
deemed unenforceable, it shall be automatically reformed to the
|
||||||
|
minimum extent necessary to make it enforceable. If the provision
|
||||||
|
cannot be reformed, it shall be severed from this Public License
|
||||||
|
without affecting the enforceability of the remaining terms and
|
||||||
|
conditions.
|
||||||
|
|
||||||
|
c. No term or condition of this Public License will be waived and no
|
||||||
|
failure to comply consented to unless expressly agreed to by the
|
||||||
|
Licensor.
|
||||||
|
|
||||||
|
d. Nothing in this Public License constitutes or may be interpreted
|
||||||
|
as a limitation upon, or waiver of, any privileges and immunities
|
||||||
|
that apply to the Licensor or You, including from the legal
|
||||||
|
processes of any jurisdiction or authority.
|
||||||
|
|
||||||
|
=======================================================================
|
||||||
|
|
||||||
|
Creative Commons is not a party to its public
|
||||||
|
licenses. Notwithstanding, Creative Commons may elect to apply one of
|
||||||
|
its public licenses to material it publishes and in those instances
|
||||||
|
will be considered the “Licensor.” The text of the Creative Commons
|
||||||
|
public licenses is dedicated to the public domain under the CC0 Public
|
||||||
|
Domain Dedication. Except for the limited purpose of indicating that
|
||||||
|
material is shared under a Creative Commons public license or as
|
||||||
|
otherwise permitted by the Creative Commons policies published at
|
||||||
|
creativecommons.org/policies, Creative Commons does not authorize the
|
||||||
|
use of the trademark "Creative Commons" or any other trademark or logo
|
||||||
|
of Creative Commons without its prior written consent including,
|
||||||
|
without limitation, in connection with any unauthorized modifications
|
||||||
|
to any of its public licenses or any other arrangements,
|
||||||
|
understandings, or agreements concerning use of licensed material. For
|
||||||
|
the avoidance of doubt, this paragraph does not form part of the
|
||||||
|
public licenses.
|
||||||
|
|
||||||
|
Creative Commons may be contacted at creativecommons.org.
|
||||||
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 |
@@ -222,7 +222,7 @@ data:
|
|||||||
test:
|
test:
|
||||||
target: unifolm_wma.data.wma_data.WMAData
|
target: unifolm_wma.data.wma_data.WMAData
|
||||||
params:
|
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}
|
video_length: ${model.params.wma_config.params.temporal_length}
|
||||||
frame_stride: 2
|
frame_stride: 2
|
||||||
load_raw_resolution: True
|
load_raw_resolution: True
|
||||||
|
|||||||
@@ -19,13 +19,13 @@ dependencies = [
|
|||||||
"pytorch-lightning==1.9.3",
|
"pytorch-lightning==1.9.3",
|
||||||
"pyyaml==6.0",
|
"pyyaml==6.0",
|
||||||
"setuptools==65.6.3",
|
"setuptools==65.6.3",
|
||||||
"torch==2.3.1",
|
#"torch==2.3.1",
|
||||||
"torchvision==0.18.1",
|
#"torchvision==0.18.1",
|
||||||
"tqdm==4.66.5",
|
"tqdm==4.66.5",
|
||||||
"transformers==4.40.1",
|
"transformers==4.40.1",
|
||||||
"moviepy==1.0.3",
|
"moviepy==1.0.3",
|
||||||
"av==12.3.0",
|
"av==12.3.0",
|
||||||
"xformers==0.0.27",
|
#"xformers==0.0.27",
|
||||||
"gradio==4.39.0",
|
"gradio==4.39.0",
|
||||||
"timm==0.9.10",
|
"timm==0.9.10",
|
||||||
"scikit-learn==1.5.1",
|
"scikit-learn==1.5.1",
|
||||||
|
|||||||
114
run_all_case.sh
114
run_all_case.sh
@@ -1,114 +0,0 @@
|
|||||||
#!/bin/bash
|
|
||||||
|
|
||||||
# 自动执行所有场景的所有case
|
|
||||||
# 总共5个场景，每个场景4个case，共20个case
|
|
||||||
# 设置环境变量（离线模式）
|
|
||||||
export HF_HUB_OFFLINE=1
|
|
||||||
export TRANSFORMERS_OFFLINE=1
|
|
||||||
|
|
||||||
# 颜色定义
|
|
||||||
RED='\033[0;31m'
|
|
||||||
GREEN='\033[0;32m'
|
|
||||||
YELLOW='\033[1;33m'
|
|
||||||
BLUE='\033[0;34m'
|
|
||||||
NC='\033[0m' # No Color
|
|
||||||
|
|
||||||
# 定义所有场景
|
|
||||||
SCENARIOS=(
|
|
||||||
"unitree_g1_pack_camera"
|
|
||||||
"unitree_z1_dual_arm_cleanup_pencils"
|
|
||||||
"unitree_z1_dual_arm_stackbox"
|
|
||||||
"unitree_z1_dual_arm_stackbox_v2"
|
|
||||||
"unitree_z1_stackbox"
|
|
||||||
)
|
|
||||||
|
|
||||||
# 定义case数量
|
|
||||||
CASES=(1 2 3 4)
|
|
||||||
|
|
||||||
# 记录开始时间
|
|
||||||
START_TIME=$(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"
|
|
||||||
@@ -1,127 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/11 [00:00<?, ?it/s]>>> Step 0: generating actions ...
|
|
||||||
>>> Step 0: interacting with world model ...
|
|
||||||
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
||||||
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
||||||
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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
|
|
||||||
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|
|
||||||
DEBUG:PIL.Image:Importing PalmImagePlugin
|
|
||||||
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|
|
||||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing PdfImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing PixarImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing PngImagePlugin
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing SunImagePlugin
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
|
|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 11/11 [13:24<00:00, 73.17s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
Binary file not shown.
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,127 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/11 [00:00<?, ?it/s]>>> 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
|
|
||||||
|
|
||||||
9%|▉ | 1/11 [01:14<12:22, 74.22s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
36%|███▋ | 4/11 [04:57<08:40, 74.32s/it]
|
|
||||||
45%|████▌ | 5/11 [06:11<07:25, 74.28s/it]
|
|
||||||
55%|█████▍ | 6/11 [07:25<06:10, 74.19s/it]
|
|
||||||
64%|██████▎ | 7/11 [08:39<04:56, 74.11s/it]
|
|
||||||
73%|███████▎ | 8/11 [09:53<03:42, 74.07s/it]
|
|
||||||
82%|████████▏ | 9/11 [11:07<02:28, 74.06s/it]
|
|
||||||
91%|█████████ | 10/11 [12:21<01:14, 74.01s/it]
|
|
||||||
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|
|
||||||
100%|██████████| 11/11 [13:35<00:00, 74.12s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,127 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/11 [00:00<?, ?it/s]>>> 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
|
|
||||||
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|
|
||||||
|
|
||||||
9%|▉ | 1/11 [01:14<12:22, 74.28s/it]
|
|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
91%|█████████ | 10/11 [12:23<01:14, 74.26s/it]
|
|
||||||
100%|██████████| 11/11 [13:37<00:00, 74.39s/it]
|
|
||||||
100%|██████████| 11/11 [13:37<00:00, 74.34s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,127 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/11 [00:00<?, ?it/s]>>> 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
|
|
||||||
|
|
||||||
9%|▉ | 1/11 [01:14<12:25, 74.52s/it]
|
|
||||||
18%|█▊ | 2/11 [02:29<11:15, 75.00s/it]
|
|
||||||
27%|██▋ | 3/11 [03:44<09:59, 74.99s/it]
|
|
||||||
36%|███▋ | 4/11 [04:59<08:43, 74.74s/it]
|
|
||||||
45%|████▌ | 5/11 [06:13<07:26, 74.48s/it]
|
|
||||||
55%|█████▍ | 6/11 [07:27<06:12, 74.56s/it]
|
|
||||||
64%|██████▎ | 7/11 [08:42<04:57, 74.46s/it]
|
|
||||||
73%|███████▎ | 8/11 [09:56<03:43, 74.48s/it]
|
|
||||||
82%|████████▏ | 9/11 [11:10<02:28, 74.32s/it]
|
|
||||||
91%|█████████ | 10/11 [12:23<01:13, 73.94s/it]
|
|
||||||
100%|██████████| 11/11 [13:36<00:00, 73.64s/it]
|
|
||||||
100%|██████████| 11/11 [13:36<00:00, 74.25s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,118 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/8 [00:00<?, ?it/s]>>> 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
|
|
||||||
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|
|
||||||
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
|
|
||||||
|
|
||||||
12%|█▎ | 1/8 [01:15<08:48, 75.51s/it]
|
|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 8/8 [09:55<00:00, 74.47s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,118 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/8 [00:00<?, ?it/s]>>> 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
|
|
||||||
|
|
||||||
12%|█▎ | 1/8 [01:16<08:54, 76.34s/it]
|
|
||||||
25%|██▌ | 2/8 [02:32<07:37, 76.28s/it]
|
|
||||||
38%|███▊ | 3/8 [03:48<06:21, 76.24s/it]
|
|
||||||
50%|█████ | 4/8 [05:04<05:04, 76.15s/it]
|
|
||||||
62%|██████▎ | 5/8 [06:21<03:48, 76.24s/it]
|
|
||||||
75%|███████▌ | 6/8 [07:36<02:32, 76.08s/it]
|
|
||||||
88%|████████▊ | 7/8 [08:52<01:15, 75.93s/it]
|
|
||||||
100%|██████████| 8/8 [10:09<00:00, 76.12s/it]
|
|
||||||
100%|██████████| 8/8 [10:09<00:00, 76.14s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,118 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/8 [00:00<?, ?it/s]>>> Step 0: generating actions ...
|
|
||||||
>>> Step 0: interacting with world model ...
|
|
||||||
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|
|
||||||
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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
|
|
||||||
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|
|
||||||
DEBUG:PIL.Image:Importing PalmImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing PcdImagePlugin
|
|
||||||
DEBUG:PIL.Image:Importing PcxImagePlugin
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
|
|
||||||
12%|█▎ | 1/8 [01:15<08:45, 75.11s/it]
|
|
||||||
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|
||||||
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||||||
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||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> 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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,118 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/8 [00:00<?, ?it/s]>>> 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
|
|
||||||
|
|
||||||
12%|█▎ | 1/8 [01:15<08:46, 75.28s/it]
|
|
||||||
25%|██▌ | 2/8 [02:30<07:32, 75.34s/it]
|
|
||||||
38%|███▊ | 3/8 [03:45<06:15, 75.08s/it]
|
|
||||||
50%|█████ | 4/8 [04:59<04:58, 74.69s/it]
|
|
||||||
62%|██████▎ | 5/8 [06:13<03:43, 74.43s/it]
|
|
||||||
75%|███████▌ | 6/8 [07:27<02:28, 74.27s/it]
|
|
||||||
88%|████████▊ | 7/8 [08:41<01:14, 74.21s/it]
|
|
||||||
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|
|
||||||
100%|██████████| 8/8 [09:55<00:00, 74.43s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,115 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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 ...
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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||||||
|
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||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
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||||||
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||||||
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||||||
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|
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||||||
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|
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||||||
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|
|
||||||
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|
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||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
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||||||
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|
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||||||
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|
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||||||
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|
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||||||
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|
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||||||
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|
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||||||
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|
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||||||
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|
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||||||
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|
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||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
||||||
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||||||
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|
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||||||
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|
|
||||||
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|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
>>> 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 ...
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,115 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/7 [00:00<?, ?it/s]>>> 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
|
|
||||||
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|
|
||||||
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
|
|
||||||
|
|
||||||
14%|█▍ | 1/7 [01:16<07:38, 76.39s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 7/7 [08:57<00:00, 76.81s/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 ...
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,115 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/7 [00:00<?, ?it/s]>>> 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
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
||||||
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|
|
||||||
|
|
||||||
14%|█▍ | 1/7 [01:15<07:33, 75.59s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
100%|██████████| 7/7 [08:47<00:00, 75.34s/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 ...
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,115 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/7 [00:00<?, ?it/s]>>> 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
|
|
||||||
|
|
||||||
14%|█▍ | 1/7 [01:17<07:42, 77.04s/it]
|
|
||||||
29%|██▊ | 2/7 [02:33<06:24, 76.95s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
86%|████████▌ | 6/7 [07:39<01:16, 76.43s/it]
|
|
||||||
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|
|
||||||
100%|██████████| 7/7 [08:55<00:00, 76.44s/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 ...
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,127 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/11 [00:00<?, ?it/s]>>> 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
|
|
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
100%|██████████| 11/11 [13:45<00:00, 75.02s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,127 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/11 [00:00<?, ?it/s]>>> 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
|
|
||||||
|
|
||||||
9%|▉ | 1/11 [01:13<12:18, 73.90s/it]
|
|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 11/11 [13:28<00:00, 73.50s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,127 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/11 [00:00<?, ?it/s]>>> 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
|
|
||||||
|
|
||||||
9%|▉ | 1/11 [01:14<12:29, 74.99s/it]
|
|
||||||
18%|█▊ | 2/11 [02:30<11:18, 75.44s/it]
|
|
||||||
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|
|
||||||
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||||||
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||||||
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||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
100%|██████████| 11/11 [13:45<00:00, 75.01s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,127 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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%| | 0/11 [00:00<?, ?it/s]>>> 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
|
|
||||||
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|
|
||||||
|
|
||||||
9%|▉ | 1/11 [01:14<12:25, 74.55s/it]
|
|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 11/11 [13:39<00:00, 74.48s/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 ...
|
|
||||||
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,130 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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]>>> 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 [01:14<13:38, 74.37s/it]
|
|
||||||
17%|█▋ | 2/12 [02:28<12:21, 74.13s/it]
|
|
||||||
25%|██▌ | 3/12 [03:42<11:05, 73.97s/it]
|
|
||||||
33%|███▎ | 4/12 [04:55<09:51, 73.92s/it]
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 12/12 [14:42<00:00, 73.55s/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 ...
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,130 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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]>>> 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
|
|
||||||
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
100%|██████████| 12/12 [14:33<00:00, 72.80s/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 ...
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,130 +0,0 @@
|
|||||||
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
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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]>>> 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 [01:14<13:34, 74.06s/it]
|
|
||||||
17%|█▋ | 2/12 [02:27<12:17, 73.74s/it]
|
|
||||||
25%|██▌ | 3/12 [03:40<10:59, 73.23s/it]
|
|
||||||
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|
|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
100%|██████████| 12/12 [14:33<00:00, 72.83s/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 ...
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,130 +0,0 @@
|
|||||||
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
|
|
||||||
Global seed set to 123
|
|
||||||
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.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
INFO:root:Loaded ViT-H-14 model config.
|
|
||||||
INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
|
|
||||||
>>> 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]>>> 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
|
|
||||||
|
|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
58%|█████▊ | 7/12 [08:32<06:04, 72.98s/it]
|
|
||||||
67%|██████▋ | 8/12 [09:45<04:51, 72.85s/it]
|
|
||||||
75%|███████▌ | 9/12 [10:57<03:38, 72.76s/it]
|
|
||||||
83%|████████▎ | 10/12 [12:10<02:25, 72.69s/it]
|
|
||||||
92%|█████████▏| 11/12 [13:23<01:12, 72.66s/it]
|
|
||||||
100%|██████████| 12/12 [14:35<00:00, 72.63s/it]
|
|
||||||
100%|██████████| 12/12 [14:35<00:00, 72.97s/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 ...
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
Reference in New Issue
Block a user