1409 lines
91 KiB
Plaintext
1409 lines
91 KiB
Plaintext
2026-02-19 18:55:32.160020: 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`.
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2026-02-19 18:55:32.207538: 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
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2026-02-19 18:55:32.207581: 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
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2026-02-19 18:55:32.208613: 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
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2026-02-19 18:55:32.215249: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
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To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
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2026-02-19 18:55:33.121466: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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Global seed set to 123
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>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Prepared model loaded.
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>>> Diffusion backbone (model.model) converted to FP16.
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>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
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>>> Encoders (cond_stage_model, embedder) converted to FP16.
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INFO:root:***** Configing Data *****
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>>> unitree_z1_stackbox: 1 data samples loaded.
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>>> unitree_z1_stackbox: data stats loaded.
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>>> unitree_z1_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
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>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
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>>> unitree_g1_pack_camera: 1 data samples loaded.
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>>> unitree_g1_pack_camera: data stats loaded.
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>>> unitree_g1_pack_camera: normalizer initiated.
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>>> Dataset is successfully loaded ...
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✓ KV fused: 66 attention layers
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>>> Generate 16 frames under each generation ...
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DEBUG:h5py._conv:Creating converter from 3 to 5
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DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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>>> Step 2: generating actions ...
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>> Step 8: generating actions ...
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>>> Step 8: interacting with world model ...
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>>> Step 9: generating actions ...
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>>> Step 9: interacting with world model ...
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>>> Step 10: generating actions ...
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>>> Step 10: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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real 4m33.774s
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user 4m27.585s
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sys 0m35.577s
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2026-02-19 19:00:05.944067: 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`.
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2026-02-19 19:00:05.991354: 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
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2026-02-19 19:00:05.991392: 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
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2026-02-19 19:00:05.992414: 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
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2026-02-19 19:00:05.999050: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
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To enable the following instructions: AVX2 AVX512F AVX512_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-19 19:00:06.916175: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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Global seed set to 123
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>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Prepared model loaded.
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>>> Diffusion backbone (model.model) converted to FP16.
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>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
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>>> Encoders (cond_stage_model, embedder) converted to FP16.
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INFO:root:***** Configing Data *****
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>>> unitree_z1_stackbox: 1 data samples loaded.
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>>> unitree_z1_stackbox: data stats loaded.
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>>> unitree_z1_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
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>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
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>>> unitree_g1_pack_camera: 1 data samples loaded.
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>>> unitree_g1_pack_camera: data stats loaded.
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>>> unitree_g1_pack_camera: normalizer initiated.
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>>> Dataset is successfully loaded ...
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✓ KV fused: 66 attention layers
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>>> Generate 16 frames under each generation ...
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DEBUG:h5py._conv:Creating converter from 3 to 5
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DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 8: generating actions ...
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>>> Step 8: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 9: generating actions ...
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>>> Step 9: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 10: generating actions ...
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>>> Step 10: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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real 4m35.073s
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user 4m34.865s
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sys 0m29.897s
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2026-02-19 19:04:41.036634: 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`.
|
|
2026-02-19 19:04:41.084414: 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
|
|
2026-02-19 19:04:41.084452: 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
|
|
2026-02-19 19:04:41.085481: 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
|
|
2026-02-19 19:04:41.092287: 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.
|
|
2026-02-19 19:04:42.000614: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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.
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>>> unitree_z1_dual_arm_stackbox: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
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>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
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>>> unitree_g1_pack_camera: 1 data samples loaded.
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>>> unitree_g1_pack_camera: data stats loaded.
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>>> 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
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|
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
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|
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
|
|
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 8: generating actions ...
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>>> Step 8: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 9: generating actions ...
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>>> Step 9: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 10: generating actions ...
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>>> Step 10: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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real 4m35.102s
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user 4m34.062s
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sys 0m30.631s
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2026-02-19 19:09:16.122268: 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`.
|
|
2026-02-19 19:09:16.170290: 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
|
|
2026-02-19 19:09:16.170331: 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
|
|
2026-02-19 19:09:16.171349: 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
|
|
2026-02-19 19:09:16.177993: 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.
|
|
2026-02-19 19:09:17.087425: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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.
|
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>>> unitree_z1_dual_arm_stackbox: data stats loaded.
|
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>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
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>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
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>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
|
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>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
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>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
|
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>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
|
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>>> unitree_g1_pack_camera: 1 data samples loaded.
|
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>>> unitree_g1_pack_camera: data stats loaded.
|
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>>> 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
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|
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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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 8: generating actions ...
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>>> Step 8: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 9: generating actions ...
|
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>>> Step 9: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 10: generating actions ...
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>>> Step 10: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m35.402s
|
|
user 4m29.961s
|
|
sys 0m35.015s
|
|
2026-02-19 19:13:51.554194: 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`.
|
|
2026-02-19 19:13:51.601580: 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
|
|
2026-02-19 19:13:51.601622: 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
|
|
2026-02-19 19:13:51.602646: 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
|
|
2026-02-19 19:13:51.609297: 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.
|
|
2026-02-19 19:13:52.517676: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
|
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>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 3m24.743s
|
|
user 3m31.432s
|
|
sys 0m18.719s
|
|
2026-02-19 19:17:16.282875: 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`.
|
|
2026-02-19 19:17:16.330519: 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
|
|
2026-02-19 19:17:16.330561: 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
|
|
2026-02-19 19:17:16.331631: 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
|
|
2026-02-19 19:17:16.338413: 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.
|
|
2026-02-19 19:17:17.250653: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
|
|
|
|
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|
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|
|
100%|██████████| 8/8 [03:07<00:00, 23.42s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 3m24.131s
|
|
user 3m25.207s
|
|
sys 0m24.266s
|
|
2026-02-19 19:20:40.444703: 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`.
|
|
2026-02-19 19:20:40.492237: 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
|
|
2026-02-19 19:20:40.492278: 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
|
|
2026-02-19 19:20:40.493360: 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
|
|
2026-02-19 19:20:40.500130: 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.
|
|
2026-02-19 19:20:41.414718: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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<?, ?it/s]
|
|
12%|█▎ | 1/8 [00:24<02:48, 24.06s/it]
|
|
25%|██▌ | 2/8 [00:47<02:21, 23.58s/it]
|
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38%|███▊ | 3/8 [01:10<01:57, 23.45s/it]
|
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50%|█████ | 4/8 [01:33<01:33, 23.41s/it]
|
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62%|██████▎ | 5/8 [01:57<01:10, 23.38s/it]
|
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75%|███████▌ | 6/8 [02:20<00:46, 23.37s/it]
|
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88%|████████▊ | 7/8 [02:43<00:23, 23.36s/it]
|
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100%|██████████| 8/8 [03:07<00:00, 23.34s/it]
|
|
100%|██████████| 8/8 [03:07<00:00, 23.41s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 3m24.747s
|
|
user 3m21.618s
|
|
sys 0m28.508s
|
|
2026-02-19 19:24:05.230366: 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`.
|
|
2026-02-19 19:24:05.278058: 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
|
|
2026-02-19 19:24:05.278100: 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
|
|
2026-02-19 19:24:05.279133: 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
|
|
2026-02-19 19:24:05.285789: 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.
|
|
2026-02-19 19:24:06.199101: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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<?, ?it/s]
|
|
12%|█▎ | 1/8 [00:24<02:48, 24.06s/it]
|
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25%|██▌ | 2/8 [00:47<02:21, 23.56s/it]
|
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38%|███▊ | 3/8 [01:10<01:57, 23.45s/it]
|
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50%|█████ | 4/8 [01:33<01:33, 23.43s/it]
|
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62%|██████▎ | 5/8 [01:57<01:10, 23.38s/it]
|
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75%|███████▌ | 6/8 [02:20<00:46, 23.35s/it]
|
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88%|████████▊ | 7/8 [02:43<00:23, 23.33s/it]
|
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100%|██████████| 8/8 [03:07<00:00, 23.33s/it]
|
|
100%|██████████| 8/8 [03:07<00:00, 23.40s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 3m24.046s
|
|
user 3m23.755s
|
|
sys 0m25.515s
|
|
2026-02-19 19:27:29.317502: 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`.
|
|
2026-02-19 19:27:29.365030: 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
|
|
2026-02-19 19:27:29.365079: 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
|
|
2026-02-19 19:27:29.366111: 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
|
|
2026-02-19 19:27:29.372733: 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.
|
|
2026-02-19 19:27:30.291220: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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%| | 0/7 [00:00<?, ?it/s]
|
|
14%|█▍ | 1/7 [00:24<02:24, 24.09s/it]
|
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29%|██▊ | 2/7 [00:47<01:57, 23.59s/it]
|
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43%|████▎ | 3/7 [01:10<01:33, 23.46s/it]
|
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57%|█████▋ | 4/7 [01:33<01:10, 23.42s/it]
|
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71%|███████▏ | 5/7 [01:57<00:46, 23.39s/it]
|
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86%|████████▌ | 6/7 [02:20<00:23, 23.37s/it]
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100%|██████████| 7/7 [02:43<00:00, 23.35s/it]
|
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100%|██████████| 7/7 [02:43<00:00, 23.42s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 3m0.795s
|
|
user 2m57.244s
|
|
sys 0m27.805s
|
|
2026-02-19 19:30:30.058862: 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`.
|
|
2026-02-19 19:30:30.106200: 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
|
|
2026-02-19 19:30:30.106243: 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
|
|
2026-02-19 19:30:30.107276: 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
|
|
2026-02-19 19:30:30.113917: 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.
|
|
2026-02-19 19:30:31.026240: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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%| | 0/7 [00:00<?, ?it/s]
|
|
14%|█▍ | 1/7 [00:24<02:24, 24.09s/it]
|
|
29%|██▊ | 2/7 [00:47<01:58, 23.60s/it]
|
|
43%|████▎ | 3/7 [01:10<01:33, 23.48s/it]
|
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57%|█████▋ | 4/7 [01:34<01:10, 23.43s/it]
|
|
71%|███████▏ | 5/7 [01:57<00:46, 23.43s/it]
|
|
86%|████████▌ | 6/7 [02:20<00:23, 23.42s/it]
|
|
100%|██████████| 7/7 [02:44<00:00, 23.40s/it]
|
|
100%|██████████| 7/7 [02:44<00:00, 23.46s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 3m1.208s
|
|
user 3m4.842s
|
|
sys 0m20.772s
|
|
2026-02-19 19:33:31.235859: 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`.
|
|
2026-02-19 19:33:31.283866: 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
|
|
2026-02-19 19:33:31.283908: 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
|
|
2026-02-19 19:33:31.284941: 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
|
|
2026-02-19 19:33:31.291610: 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.
|
|
2026-02-19 19:33:32.199716: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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%| | 0/7 [00:00<?, ?it/s]
|
|
14%|█▍ | 1/7 [00:24<02:24, 24.10s/it]
|
|
29%|██▊ | 2/7 [00:47<01:58, 23.62s/it]
|
|
43%|████▎ | 3/7 [01:10<01:34, 23.51s/it]
|
|
57%|█████▋ | 4/7 [01:34<01:10, 23.46s/it]
|
|
71%|███████▏ | 5/7 [01:57<00:46, 23.44s/it]
|
|
86%|████████▌ | 6/7 [02:20<00:23, 23.43s/it]
|
|
100%|██████████| 7/7 [02:44<00:00, 23.40s/it]
|
|
100%|██████████| 7/7 [02:44<00:00, 23.47s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 3m1.015s
|
|
user 3m2.964s
|
|
sys 0m22.269s
|
|
2026-02-19 19:36:32.251051: 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`.
|
|
2026-02-19 19:36:32.298464: 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
|
|
2026-02-19 19:36:32.298506: 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
|
|
2026-02-19 19:36:32.299538: 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
|
|
2026-02-19 19:36:32.306168: 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.
|
|
2026-02-19 19:36:33.213503: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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%| | 0/7 [00:00<?, ?it/s]
|
|
14%|█▍ | 1/7 [00:24<02:24, 24.05s/it]
|
|
29%|██▊ | 2/7 [00:47<01:57, 23.58s/it]
|
|
43%|████▎ | 3/7 [01:10<01:33, 23.45s/it]
|
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57%|█████▋ | 4/7 [01:33<01:10, 23.43s/it]
|
|
71%|███████▏ | 5/7 [01:57<00:46, 23.41s/it]
|
|
86%|████████▌ | 6/7 [02:20<00:23, 23.38s/it]
|
|
100%|██████████| 7/7 [02:43<00:00, 23.35s/it]
|
|
100%|██████████| 7/7 [02:43<00:00, 23.42s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 3m0.614s
|
|
user 3m3.100s
|
|
sys 0m21.873s
|
|
2026-02-19 19:39:32.908698: 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`.
|
|
2026-02-19 19:39:32.956378: 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
|
|
2026-02-19 19:39:32.956417: 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
|
|
2026-02-19 19:39:32.957459: 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
|
|
2026-02-19 19:39:32.964104: 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.
|
|
2026-02-19 19:39:33.875854: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 5: generating actions ...
|
|
>>> Step 5: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> 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 4m34.851s
|
|
user 4m33.496s
|
|
sys 0m30.482s
|
|
2026-02-19 19:44:07.724109: 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`.
|
|
2026-02-19 19:44:07.771461: 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
|
|
2026-02-19 19:44:07.771505: 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
|
|
2026-02-19 19:44:07.772537: 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
|
|
2026-02-19 19:44:07.779172: 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.
|
|
2026-02-19 19:44:08.688975: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
|
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|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 4m34.717s
|
|
user 4m32.189s
|
|
sys 0m31.784s
|
|
2026-02-19 19:48:42.460586: 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`.
|
|
2026-02-19 19:48:42.508096: 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
|
|
2026-02-19 19:48:42.508140: 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
|
|
2026-02-19 19:48:42.509152: 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
|
|
2026-02-19 19:48:42.515865: 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.
|
|
2026-02-19 19:48:43.425699: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
|
|
|
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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 [04:17<00:00, 23.36s/it]
|
|
100%|██████████| 11/11 [04:17<00:00, 23.42s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 4m35.120s
|
|
user 4m35.176s
|
|
sys 0m29.141s
|
|
2026-02-19 19:53:17.574354: 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`.
|
|
2026-02-19 19:53:17.621335: 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
|
|
2026-02-19 19:53:17.621388: 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
|
|
2026-02-19 19:53:17.622415: 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
|
|
2026-02-19 19:53:17.629050: 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.
|
|
2026-02-19 19:53:18.537233: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
|
|
|
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64%|██████▎ | 7/11 [02:44<01:33, 23.39s/it]
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82%|████████▏ | 9/11 [03:30<00:46, 23.35s/it]
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91%|█████████ | 10/11 [03:54<00:23, 23.35s/it]
|
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100%|██████████| 11/11 [04:17<00:00, 23.33s/it]
|
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100%|██████████| 11/11 [04:17<00:00, 23.41s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
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>>> Step 8: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 9: generating actions ...
|
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>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 10: generating actions ...
|
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>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m34.810s
|
|
user 4m31.537s
|
|
sys 0m32.550s
|
|
2026-02-19 19:57:52.488339: 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`.
|
|
2026-02-19 19:57:52.536176: 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
|
|
2026-02-19 19:57:52.536222: 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
|
|
2026-02-19 19:57:52.537285: 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
|
|
2026-02-19 19:57:52.544051: 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.
|
|
2026-02-19 19:57:53.469912: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
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>>> Step 0: generating actions ...
|
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>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 11: generating actions ...
|
|
>>> Step 11: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m58.541s
|
|
user 4m56.152s
|
|
sys 0m33.392s
|
|
2026-02-19 20:02:50.975402: 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`.
|
|
2026-02-19 20:02:51.023211: 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
|
|
2026-02-19 20:02:51.023253: 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
|
|
2026-02-19 20:02:51.024328: 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
|
|
2026-02-19 20:02:51.031176: 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.
|
|
2026-02-19 20:02:51.947400: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
|
|
|
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|
|
100%|██████████| 12/12 [04:41<00:00, 23.42s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 11: generating actions ...
|
|
>>> Step 11: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m58.476s
|
|
user 4m54.520s
|
|
sys 0m34.454s
|
|
2026-02-19 20:07:49.410622: 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`.
|
|
2026-02-19 20:07:49.457896: 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
|
|
2026-02-19 20:07:49.457948: 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
|
|
2026-02-19 20:07:49.458967: 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
|
|
2026-02-19 20:07:49.465632: 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.
|
|
2026-02-19 20:07:50.373326: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
|
|
|
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75%|███████▌ | 9/12 [03:31<01:10, 23.37s/it]
|
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83%|████████▎ | 10/12 [03:54<00:46, 23.37s/it]
|
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92%|█████████▏| 11/12 [04:17<00:23, 23.36s/it]
|
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|
|
100%|██████████| 12/12 [04:41<00:00, 23.43s/it]
|
|
>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 11: generating actions ...
|
|
>>> Step 11: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m58.520s
|
|
user 4m56.011s
|
|
sys 0m32.787s
|
|
2026-02-19 20:12:48.029611: 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`.
|
|
2026-02-19 20:12:48.076914: 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
|
|
2026-02-19 20:12:48.076957: 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
|
|
2026-02-19 20:12:48.077981: 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
|
|
2026-02-19 20:12:48.084620: 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.
|
|
2026-02-19 20:12:49.004753: 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.
|
|
>>> Diffusion backbone (model.model) converted to FP16.
|
|
>>> Projectors (image_proj_model, state_projector, action_projector) converted to FP16.
|
|
>>> Encoders (cond_stage_model, embedder) converted to FP16.
|
|
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
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 8: generating actions ...
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>>> Step 8: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 9: generating actions ...
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>>> Step 9: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 10: generating actions ...
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>>> Step 10: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 11: generating actions ...
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>>> Step 11: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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real 4m58.224s
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user 4m58.630s
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sys 0m29.833s
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