2026-02-10 16:42:59.052755: 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`. 2026-02-10 16:42:59.102749: 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 2026-02-10 16:42:59.102803: 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 2026-02-10 16:42:59.104125: 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 2026-02-10 16:42:59.111711: 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. 2026-02-10 16:43:00.040735: 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. DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443 DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0 INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k). INFO:root:Loaded ViT-H-14 model config. DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0 INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k). >>> 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>> 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 [00:40<06:41, 40.19s/it] 18%|█▊ | 2/11 [01:20<06:04, 40.45s/it] 27%|██▋ | 3/11 [02:01<05:25, 40.72s/it] 36%|███▋ | 4/11 [02:42<04:45, 40.81s/it] 45%|████▌ | 5/11 [03:23<04:04, 40.76s/it] 55%|█████▍ | 6/11 [04:03<03:22, 40.57s/it] 64%|██████▎ | 7/11 [04:43<02:41, 40.48s/it] 73%|███████▎ | 8/11 [05:24<02:01, 40.44s/it] 82%|████████▏ | 9/11 [06:04<01:20, 40.41s/it] 91%|█████████ | 10/11 [06:45<00:40, 40.44s/it] 100%|██████████| 11/11 [07:25<00:00, 40.45s/it] 100%|██████████| 11/11 [07:25<00:00, 40.51s/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 ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 9: generating actions ... >>> Step 9: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> >>> Step 10: generating actions ... >>> Step 10: interacting with world model ... >>>>>>>>>>>>>>>>>>>>>>>> real 9m4.275s user 9m59.012s sys 1m24.037s