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>> 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 [01:16<07:38, 76.39s/it] 29%|██▊ | 2/7 [02:33<06:23, 76.69s/it] 43%|████▎ | 3/7 [03:50<05:07, 76.87s/it] 57%|█████▋ | 4/7 [05:07<03:50, 76.91s/it] 71%|███████▏ | 5/7 [06:23<02:33, 76.80s/it] 86%|████████▌ | 6/7 [07:40<01:16, 76.77s/it] 100%|██████████| 7/7 [08:57<00:00, 76.85s/it] 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 ... >>> Step 5: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 6: generating actions ... >>> Step 6: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> real 10m36.315s user 42m52.218s sys 0m42.198s