2026-02-10 22:35:08.834827: 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 22:35:08.884699: 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 22:35:08.884743: 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 22:35:08.886076: 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 22:35:08.893623: 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 22:35:09.824417: 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 ...
>>> 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

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