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unifolm-world-model-action/unitree_g1_pack_camera/case1/output.log
qhy 65788be1b3 成功的尝试
2026-02-18 19:14:55 +08:00

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2026-02-18 19:01:56.891895: 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`.
2026-02-18 19:01:56.940243: 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
2026-02-18 19:01:56.940285: 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
2026-02-18 19:01:56.941395: 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
2026-02-18 19:01:56.948327: 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.
2026-02-18 19:01:57.870809: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
Global seed set to 123
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
>>> Prepared model loaded.
INFO:root:***** Configing Data *****
>>> unitree_z1_stackbox: 1 data samples loaded.
>>> unitree_z1_stackbox: data stats loaded.
>>> unitree_z1_stackbox: normalizer initiated.
>>> unitree_z1_dual_arm_stackbox: 1 data samples loaded.
>>> unitree_z1_dual_arm_stackbox: data stats loaded.
>>> unitree_z1_dual_arm_stackbox: normalizer initiated.
>>> unitree_z1_dual_arm_stackbox_v2: 1 data samples loaded.
>>> unitree_z1_dual_arm_stackbox_v2: data stats loaded.
>>> unitree_z1_dual_arm_stackbox_v2: normalizer initiated.
>>> unitree_z1_dual_arm_cleanup_pencils: 1 data samples loaded.
>>> unitree_z1_dual_arm_cleanup_pencils: data stats loaded.
>>> unitree_z1_dual_arm_cleanup_pencils: normalizer initiated.
>>> unitree_g1_pack_camera: 1 data samples loaded.
>>> unitree_g1_pack_camera: data stats loaded.
>>> unitree_g1_pack_camera: normalizer initiated.
>>> Dataset is successfully loaded ...
✓ KV fused: 66 attention layers
TRT output 'y': [1, 4, 16, 40, 64] torch.float32
TRT output 'hs_a_0': [1, 16, 320, 40, 64] torch.float32
TRT output 'hs_a_1': [1, 16, 640, 20, 32] torch.float32
TRT output 'hs_a_2': [1, 16, 1280, 10, 16] torch.float32
TRT output 'hs_a_3': [1, 16, 1280, 5, 8] torch.float32
TRT output 'hs_a_4': [1, 16, 1280, 5, 8] torch.float32
TRT output 'hs_a_5': [1, 16, 1280, 5, 8] torch.float32
TRT output 'hs_a_6': [1, 16, 1280, 10, 16] torch.float32
TRT output 'hs_a_7': [1, 16, 640, 20, 32] torch.float32
TRT output 'hs_a_8': [1, 16, 320, 40, 64] torch.float32
>>> TRT backbone loaded from /home/qhy/unifolm-world-model-action/scripts/evaluation/../../trt_engines/video_backbone.engine
>>> Generate 16 frames under each generation ...
DEBUG:h5py._conv:Creating converter from 3 to 5
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
0%| | 0/11 [00:00<?, ?it/s][02/18/2026-19:02:10] [TRT] [W] Using default stream in enqueueV3() may lead to performance issues due to additional calls to cudaStreamSynchronize() by TensorRT to ensure correct synchronization. Please use non-default stream instead.
9%|▉ | 1/11 [00:17<02:51, 17.15s/it]>>> Step 0: generating actions ...
>>> Step 0: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 1: generating actions ...
DEBUG:PIL.Image:Importing BlpImagePlugin
DEBUG:PIL.Image:Importing BlpImagePlugin
DEBUG:PIL.Image:Importing BmpImagePlugin
DEBUG:PIL.Image:Importing BufrStubImagePlugin
DEBUG:PIL.Image:Importing BmpImagePlugin
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DEBUG:PIL.Image:Importing CurImagePlugin
DEBUG:PIL.Image:Importing CurImagePlugin
DEBUG:PIL.Image:Importing DcxImagePlugin
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
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DEBUG:PIL.Image:Importing FpxImagePlugin
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
DEBUG:PIL.Image:Importing FtexImagePlugin
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DEBUG:PIL.Image:Importing GifImagePlugin
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DEBUG:PIL.Image:Importing ImtImagePlugin
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DEBUG:PIL.Image:Importing IptcImagePlugin
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DEBUG:PIL.Image:Importing JpegImagePlugin
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DEBUG:PIL.Image:Importing MicImagePlugin
DEBUG:PIL.Image:Importing MicImagePlugin
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
DEBUG:PIL.Image:Importing MpegImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
DEBUG:PIL.Image:Importing PixarImagePlugin
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DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing SgiImagePlugin
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DEBUG:PIL.Image:Importing SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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DEBUG:PIL.Image:Importing TgaImagePlugin
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DEBUG:PIL.Image:Importing TiffImagePlugin
DEBUG:PIL.Image:Importing WebPImagePlugin
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DEBUG:PIL.Image:Importing WmfImagePlugin
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DEBUG:PIL.Image:Importing XbmImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
DEBUG:PIL.Image:Importing XVThumbImagePlugin
18%|█▊ | 2/11 [00:33<02:31, 16.87s/it]
27%|██▋ | 3/11 [00:50<02:14, 16.76s/it]
36%|███▋ | 4/11 [01:07<01:57, 16.81s/it]
45%|████▌ | 5/11 [01:24<01:41, 16.85s/it]
55%|█████▍ | 6/11 [01:41<01:24, 16.82s/it]
64%|██████▎ | 7/11 [01:57<01:07, 16.82s/it]
73%|███████▎ | 8/11 [02:14<00:50, 16.83s/it]
82%|████████▏ | 9/11 [02:31<00:33, 16.80s/it]
91%|█████████ | 10/11 [02:48<00:16, 16.81s/it]
100%|██████████| 11/11 [03:05<00:00, 16.81s/it]
100%|██████████| 11/11 [03:05<00:00, 16.83s/it]
>>> Step 1: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 2: generating actions ...
>>> Step 2: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 3: generating actions ...
>>> Step 3: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 4: generating actions ...
>>> Step 4: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 5: generating actions ...
>>> Step 5: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 6: generating actions ...
>>> Step 6: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> Step 7: generating actions ...
>>> Step 7: interacting with world model ...
>>>>>>>>>>>>>>>>>>>>>>>>
>>> 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 3m49.072s
user 4m16.055s
sys 0m44.636s
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