66 lines
4.2 KiB
Plaintext
66 lines
4.2 KiB
Plaintext
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`.
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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
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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
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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
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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.
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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 19:20:41.414718: 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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0%| | 0/8 [00:00<?, ?it/s]
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12%|█▎ | 1/8 [00:24<02:48, 24.06s/it]
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62%|██████▎ | 5/8 [01:57<01:10, 23.38s/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]
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100%|██████████| 8/8 [03:07<00:00, 23.41s/it]
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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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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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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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>>>>>>>>>>>>>>>>>>>>>>>>
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real 3m24.747s
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user 3m21.618s
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sys 0m28.508s
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