2026-02-11 14:29:51.911195: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. 2026-02-11 14:29:51.961101: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered 2026-02-11 14:29:51.961156: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered 2026-02-11 14:29:51.962467: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered 2026-02-11 14:29:51.969980: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. 2026-02-11 14:29:52.899745: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT Global seed set to 123 >>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ... >>> Prepared model loaded. 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 ... ✓ KV fused: 66 attention layers >>> 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>> Step 0: generating actions ... >>> Step 0: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 1: generating actions ... 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 25%|██▌ | 2/8 [01:08<03:25, 34.24s/it] 38%|███▊ | 3/8 [01:42<02:51, 34.21s/it] 50%|█████ | 4/8 [02:16<02:16, 34.18s/it] 62%|██████▎ | 5/8 [02:50<01:42, 34.15s/it] 75%|███████▌ | 6/8 [03:24<01:08, 34.11s/it] 88%|████████▊ | 7/8 [03:58<00:34, 34.10s/it] 100%|██████████| 8/8 [04:32<00:00, 34.07s/it] 100%|██████████| 8/8 [04:32<00:00, 34.12s/it] >>> Step 1: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 2: generating actions ... >>> Step 2: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 3: generating actions ... >>> Step 3: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 4: generating actions ... >>> Step 4: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> 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 ... >>>>>>>>>>>>>>>>>>>>>>>> real 5m6.112s user 4m42.584s sys 1m6.728s