2389 lines
132 KiB
Plaintext
2389 lines
132 KiB
Plaintext
2026-02-11 17:36:39.874783: 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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2026-02-11 17:36:39.924570: 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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2026-02-11 17:36:39.924621: 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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2026-02-11 17:36:39.925931: 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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2026-02-11 17:36:39.933401: 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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2026-02-11 17:36:40.865356: 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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100%|██████████| 11/11 [04:10<00:00, 22.81s/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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>>>>>>>>>>>>>>>>>>>>>>>>
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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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DEBUG:PIL.Image:Importing BlpImagePlugin
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DEBUG:PIL.Image:Importing BmpImagePlugin
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DEBUG:PIL.Image:Importing BufrStubImagePlugin
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DEBUG:PIL.Image:Importing CurImagePlugin
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DEBUG:PIL.Image:Importing DcxImagePlugin
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DEBUG:PIL.Image:Importing DdsImagePlugin
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DEBUG:PIL.Image:Importing EpsImagePlugin
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DEBUG:PIL.Image:Importing FitsImagePlugin
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
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DEBUG:PIL.Image:Importing FliImagePlugin
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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'
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DEBUG:PIL.Image:Importing FtexImagePlugin
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DEBUG:PIL.Image:Importing GbrImagePlugin
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DEBUG:PIL.Image:Importing GifImagePlugin
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DEBUG:PIL.Image:Importing GribStubImagePlugin
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DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
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DEBUG:PIL.Image:Importing IcnsImagePlugin
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
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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 Jpeg2KImagePlugin
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DEBUG:PIL.Image:Importing McIdasImagePlugin
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DEBUG:PIL.Image:Importing MicImagePlugin
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing MpegImagePlugin
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DEBUG:PIL.Image:Importing MpoImagePlugin
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DEBUG:PIL.Image:Importing MspImagePlugin
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DEBUG:PIL.Image:Importing PalmImagePlugin
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DEBUG:PIL.Image:Importing PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PixarImagePlugin
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DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing PpmImagePlugin
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DEBUG:PIL.Image:Importing PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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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
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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 XpmImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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real 4m50.280s
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user 4m45.116s
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sys 0m31.988s
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2026-02-11 17:41:30.163933: 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`.
|
|
2026-02-11 17:41:30.213409: 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
|
|
2026-02-11 17:41:30.213453: 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
|
|
2026-02-11 17:41:30.214760: 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
|
|
2026-02-11 17:41:30.222233: 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.
|
|
2026-02-11 17:41:31.146811: 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.
|
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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.
|
|
>>> 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%|██████████| 11/11 [04:11<00:00, 22.83s/it]
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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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 6: generating actions ...
|
|
>>> Step 6: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
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|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
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DEBUG:PIL.Image:Importing CurImagePlugin
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DEBUG:PIL.Image:Importing DcxImagePlugin
|
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DEBUG:PIL.Image:Importing DdsImagePlugin
|
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DEBUG:PIL.Image:Importing EpsImagePlugin
|
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DEBUG:PIL.Image:Importing FitsImagePlugin
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
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DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
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DEBUG:PIL.Image:Importing FtexImagePlugin
|
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DEBUG:PIL.Image:Importing GbrImagePlugin
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DEBUG:PIL.Image:Importing GifImagePlugin
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DEBUG:PIL.Image:Importing GribStubImagePlugin
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DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
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DEBUG:PIL.Image:Importing IcnsImagePlugin
|
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
|
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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 Jpeg2KImagePlugin
|
|
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
|
DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
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DEBUG:PIL.Image:Importing MspImagePlugin
|
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DEBUG:PIL.Image:Importing PalmImagePlugin
|
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DEBUG:PIL.Image:Importing PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
|
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DEBUG:PIL.Image:Importing PixarImagePlugin
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DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing PpmImagePlugin
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DEBUG:PIL.Image:Importing PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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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
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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 XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
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real 4m50.765s
|
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user 4m45.539s
|
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sys 0m32.652s
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2026-02-11 17:46:20.925463: 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`.
|
|
2026-02-11 17:46:20.976293: 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
|
|
2026-02-11 17:46:20.976338: 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
|
|
2026-02-11 17:46:20.977650: 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
|
|
2026-02-11 17:46:20.985133: 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.
|
|
2026-02-11 17:46:21.909964: 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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>>> 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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>>>>>>>>>>>>>>>>>>>>>>>>
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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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>>>>>>>>>>>>>>>>>>>>>>>>
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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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DEBUG:PIL.Image:Importing BlpImagePlugin
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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real 4m50.697s
|
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user 4m51.595s
|
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sys 0m25.935s
|
|
2026-02-11 17:51:11.566934: 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`.
|
|
2026-02-11 17:51:11.616260: 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
|
|
2026-02-11 17:51:11.616305: 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
|
|
2026-02-11 17:51:11.617626: 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
|
|
2026-02-11 17:51:11.625103: 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.
|
|
2026-02-11 17:51:12.538539: 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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100%|██████████| 11/11 [04:10<00:00, 22.79s/it]
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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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
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DEBUG:PIL.Image:Importing CurImagePlugin
|
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DEBUG:PIL.Image:Importing DcxImagePlugin
|
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|
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|
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DEBUG:PIL.Image:Importing FitsImagePlugin
|
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
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DEBUG:PIL.Image:Importing FliImagePlugin
|
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DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
|
DEBUG:PIL.Image:Importing GifImagePlugin
|
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|
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|
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|
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DEBUG:PIL.Image:Importing IcoImagePlugin
|
|
DEBUG:PIL.Image:Importing ImImagePlugin
|
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DEBUG:PIL.Image:Importing ImtImagePlugin
|
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DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
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|
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DEBUG:PIL.Image:Importing McIdasImagePlugin
|
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DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
real 4m49.617s
|
|
user 4m40.578s
|
|
sys 0m35.722s
|
|
2026-02-11 17:56:01.170137: 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`.
|
|
2026-02-11 17:56:01.219541: 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
|
|
2026-02-11 17:56:01.219584: 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
|
|
2026-02-11 17:56:01.220897: 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
|
|
2026-02-11 17:56:01.228350: 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.
|
|
2026-02-11 17:56:02.145344: 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]
|
|
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|
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|
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|
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50%|█████ | 4/8 [01:31<01:31, 22.82s/it]
|
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62%|██████▎ | 5/8 [01:54<01:08, 22.78s/it]
|
|
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|
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|
|
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|
|
100%|██████████| 8/8 [03:02<00:00, 22.79s/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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
DEBUG:PIL.Image:Importing CurImagePlugin
|
|
DEBUG:PIL.Image:Importing DcxImagePlugin
|
|
DEBUG:PIL.Image:Importing DdsImagePlugin
|
|
DEBUG:PIL.Image:Importing EpsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
|
DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
|
DEBUG:PIL.Image:Importing GifImagePlugin
|
|
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
|
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
|
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
|
DEBUG:PIL.Image:Importing IcoImagePlugin
|
|
DEBUG:PIL.Image:Importing ImImagePlugin
|
|
DEBUG:PIL.Image:Importing ImtImagePlugin
|
|
DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
|
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
|
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
|
DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
|
DEBUG:PIL.Image:Importing MspImagePlugin
|
|
DEBUG:PIL.Image:Importing PalmImagePlugin
|
|
DEBUG:PIL.Image:Importing PcdImagePlugin
|
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
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DEBUG:PIL.Image:Importing PixarImagePlugin
|
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DEBUG:PIL.Image:Importing PngImagePlugin
|
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
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DEBUG:PIL.Image:Importing PsdImagePlugin
|
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DEBUG:PIL.Image:Importing QoiImagePlugin
|
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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
|
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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 XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 3m38.960s
|
|
user 3m30.937s
|
|
sys 0m31.309s
|
|
2026-02-11 17:59:40.132715: 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`.
|
|
2026-02-11 17:59:40.183410: 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
|
|
2026-02-11 17:59:40.183456: 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
|
|
2026-02-11 17:59:40.184784: 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
|
|
2026-02-11 17:59:40.192307: 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.
|
|
2026-02-11 17:59:41.105025: 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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>>> 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 ...
|
|
>>> Step 1: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 2: generating actions ...
|
|
>>> Step 2: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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>>> Step 3: generating actions ...
|
|
>>> Step 3: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 4: generating actions ...
|
|
>>> Step 4: interacting with world model ...
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|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
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DEBUG:PIL.Image:Importing BmpImagePlugin
|
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DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
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DEBUG:PIL.Image:Importing CurImagePlugin
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DEBUG:PIL.Image:Importing DcxImagePlugin
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DEBUG:PIL.Image:Importing DdsImagePlugin
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DEBUG:PIL.Image:Importing EpsImagePlugin
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DEBUG:PIL.Image:Importing FitsImagePlugin
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
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DEBUG:PIL.Image:Importing FliImagePlugin
|
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DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
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DEBUG:PIL.Image:Importing FtexImagePlugin
|
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DEBUG:PIL.Image:Importing GbrImagePlugin
|
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DEBUG:PIL.Image:Importing GifImagePlugin
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DEBUG:PIL.Image:Importing GribStubImagePlugin
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DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
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DEBUG:PIL.Image:Importing IcnsImagePlugin
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
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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 Jpeg2KImagePlugin
|
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DEBUG:PIL.Image:Importing McIdasImagePlugin
|
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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 MpoImagePlugin
|
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DEBUG:PIL.Image:Importing MspImagePlugin
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DEBUG:PIL.Image:Importing PalmImagePlugin
|
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DEBUG:PIL.Image:Importing PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
|
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DEBUG:PIL.Image:Importing PixarImagePlugin
|
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DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing PpmImagePlugin
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DEBUG:PIL.Image:Importing PsdImagePlugin
|
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DEBUG:PIL.Image:Importing QoiImagePlugin
|
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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
|
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
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DEBUG:PIL.Image:Importing TiffImagePlugin
|
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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 XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 3m39.248s
|
|
user 3m36.031s
|
|
sys 0m26.541s
|
|
2026-02-11 18:03:19.373691: 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`.
|
|
2026-02-11 18:03:19.423144: 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
|
|
2026-02-11 18:03:19.423201: 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
|
|
2026-02-11 18:03:19.424504: 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
|
|
2026-02-11 18:03:19.431968: 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.
|
|
2026-02-11 18:03:20.342432: 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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62%|██████▎ | 5/8 [01:54<01:08, 22.84s/it]
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|
|
100%|██████████| 8/8 [03:02<00:00, 22.86s/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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
DEBUG:PIL.Image:Importing CurImagePlugin
|
|
DEBUG:PIL.Image:Importing DcxImagePlugin
|
|
DEBUG:PIL.Image:Importing DdsImagePlugin
|
|
DEBUG:PIL.Image:Importing EpsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
|
DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
|
DEBUG:PIL.Image:Importing GifImagePlugin
|
|
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
|
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
|
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
|
DEBUG:PIL.Image:Importing IcoImagePlugin
|
|
DEBUG:PIL.Image:Importing ImImagePlugin
|
|
DEBUG:PIL.Image:Importing ImtImagePlugin
|
|
DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
|
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
|
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
|
DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
|
DEBUG:PIL.Image:Importing MspImagePlugin
|
|
DEBUG:PIL.Image:Importing PalmImagePlugin
|
|
DEBUG:PIL.Image:Importing PcdImagePlugin
|
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
|
DEBUG:PIL.Image:Importing WebPImagePlugin
|
|
DEBUG:PIL.Image:Importing WmfImagePlugin
|
|
DEBUG:PIL.Image:Importing XbmImagePlugin
|
|
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 3m39.467s
|
|
user 3m40.766s
|
|
sys 0m21.794s
|
|
2026-02-11 18:06:58.863806: 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`.
|
|
2026-02-11 18:06:58.913518: 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
|
|
2026-02-11 18:06:58.913565: 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
|
|
2026-02-11 18:06:58.914918: 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
|
|
2026-02-11 18:06:58.922497: 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.
|
|
2026-02-11 18:06:59.840461: 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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|
|
0%| | 0/8 [00:00<?, ?it/s]
|
|
12%|█▎ | 1/8 [00:23<02:44, 23.47s/it]
|
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25%|██▌ | 2/8 [00:46<02:18, 23.01s/it]
|
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38%|███▊ | 3/8 [01:09<01:54, 22.94s/it]
|
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50%|█████ | 4/8 [01:31<01:31, 22.89s/it]
|
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62%|██████▎ | 5/8 [01:54<01:08, 22.85s/it]
|
|
75%|███████▌ | 6/8 [02:17<00:45, 22.81s/it]
|
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88%|████████▊ | 7/8 [02:40<00:22, 22.79s/it]
|
|
100%|██████████| 8/8 [03:02<00:00, 22.77s/it]
|
|
100%|██████████| 8/8 [03:02<00:00, 22.85s/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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
DEBUG:PIL.Image:Importing CurImagePlugin
|
|
DEBUG:PIL.Image:Importing DcxImagePlugin
|
|
DEBUG:PIL.Image:Importing DdsImagePlugin
|
|
DEBUG:PIL.Image:Importing EpsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
|
DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
|
DEBUG:PIL.Image:Importing GifImagePlugin
|
|
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
|
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
|
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
|
DEBUG:PIL.Image:Importing IcoImagePlugin
|
|
DEBUG:PIL.Image:Importing ImImagePlugin
|
|
DEBUG:PIL.Image:Importing ImtImagePlugin
|
|
DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
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DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
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DEBUG:PIL.Image:Importing McIdasImagePlugin
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DEBUG:PIL.Image:Importing MicImagePlugin
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
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DEBUG:PIL.Image:Importing MpegImagePlugin
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DEBUG:PIL.Image:Importing MpoImagePlugin
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DEBUG:PIL.Image:Importing MspImagePlugin
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DEBUG:PIL.Image:Importing PalmImagePlugin
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DEBUG:PIL.Image:Importing PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PixarImagePlugin
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DEBUG:PIL.Image:Importing PngImagePlugin
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DEBUG:PIL.Image:Importing PpmImagePlugin
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DEBUG:PIL.Image:Importing PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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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
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DEBUG:PIL.Image:Importing WebPImagePlugin
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DEBUG:PIL.Image:Importing XpmImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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real 3m39.489s
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user 3m42.650s
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sys 0m19.945s
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2026-02-11 18:10:38.361867: 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`.
|
|
2026-02-11 18:10:38.412126: 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
|
|
2026-02-11 18:10:38.412182: 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
|
|
2026-02-11 18:10:38.413493: 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
|
|
2026-02-11 18:10:38.420963: 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.
|
|
2026-02-11 18:10:39.335981: 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
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DEBUG:PIL.Image:Importing BmpImagePlugin
|
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DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
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DEBUG:PIL.Image:Importing CurImagePlugin
|
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DEBUG:PIL.Image:Importing DcxImagePlugin
|
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DEBUG:PIL.Image:Importing DdsImagePlugin
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DEBUG:PIL.Image:Importing EpsImagePlugin
|
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DEBUG:PIL.Image:Importing FitsImagePlugin
|
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
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DEBUG:PIL.Image:Importing FliImagePlugin
|
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DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
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DEBUG:PIL.Image:Importing GifImagePlugin
|
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DEBUG:PIL.Image:Importing GribStubImagePlugin
|
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DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
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DEBUG:PIL.Image:Importing IcnsImagePlugin
|
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DEBUG:PIL.Image:Importing IcoImagePlugin
|
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DEBUG:PIL.Image:Importing ImImagePlugin
|
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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 Jpeg2KImagePlugin
|
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DEBUG:PIL.Image:Importing McIdasImagePlugin
|
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DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
|
DEBUG:PIL.Image:Importing MspImagePlugin
|
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DEBUG:PIL.Image:Importing PalmImagePlugin
|
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DEBUG:PIL.Image:Importing PcdImagePlugin
|
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DEBUG:PIL.Image:Importing PcxImagePlugin
|
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DEBUG:PIL.Image:Importing PdfImagePlugin
|
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DEBUG:PIL.Image:Importing PixarImagePlugin
|
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DEBUG:PIL.Image:Importing PngImagePlugin
|
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DEBUG:PIL.Image:Importing PpmImagePlugin
|
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DEBUG:PIL.Image:Importing PsdImagePlugin
|
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DEBUG:PIL.Image:Importing QoiImagePlugin
|
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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
|
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
|
DEBUG:PIL.Image:Importing WebPImagePlugin
|
|
DEBUG:PIL.Image:Importing WmfImagePlugin
|
|
DEBUG:PIL.Image:Importing XbmImagePlugin
|
|
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 3m18.772s
|
|
user 3m18.248s
|
|
sys 0m22.883s
|
|
2026-02-11 18:13:57.132827: 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`.
|
|
2026-02-11 18:13:57.182101: 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
|
|
2026-02-11 18:13:57.182156: 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
|
|
2026-02-11 18:13:57.183471: 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
|
|
2026-02-11 18:13:57.190931: 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.
|
|
2026-02-11 18:13:58.104923: 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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|
|
0%| | 0/7 [00:00<?, ?it/s]
|
|
14%|█▍ | 1/7 [00:23<02:20, 23.34s/it]
|
|
29%|██▊ | 2/7 [00:46<01:54, 22.98s/it]
|
|
43%|████▎ | 3/7 [01:08<01:31, 22.91s/it]
|
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57%|█████▋ | 4/7 [01:31<01:08, 22.87s/it]
|
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71%|███████▏ | 5/7 [01:54<00:45, 22.84s/it]
|
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86%|████████▌ | 6/7 [02:17<00:22, 22.80s/it]
|
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100%|██████████| 7/7 [02:39<00:00, 22.77s/it]
|
|
100%|██████████| 7/7 [02:39<00:00, 22.84s/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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
DEBUG:PIL.Image:Importing CurImagePlugin
|
|
DEBUG:PIL.Image:Importing DcxImagePlugin
|
|
DEBUG:PIL.Image:Importing DdsImagePlugin
|
|
DEBUG:PIL.Image:Importing EpsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
|
DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
|
DEBUG:PIL.Image:Importing GifImagePlugin
|
|
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
|
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
|
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
|
DEBUG:PIL.Image:Importing IcoImagePlugin
|
|
DEBUG:PIL.Image:Importing ImImagePlugin
|
|
DEBUG:PIL.Image:Importing ImtImagePlugin
|
|
DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
|
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
|
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
|
DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
|
DEBUG:PIL.Image:Importing MspImagePlugin
|
|
DEBUG:PIL.Image:Importing PalmImagePlugin
|
|
DEBUG:PIL.Image:Importing PcdImagePlugin
|
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
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DEBUG:PIL.Image:Importing PdfImagePlugin
|
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
|
DEBUG:PIL.Image:Importing WebPImagePlugin
|
|
DEBUG:PIL.Image:Importing WmfImagePlugin
|
|
DEBUG:PIL.Image:Importing XbmImagePlugin
|
|
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 3m18.892s
|
|
user 3m19.749s
|
|
sys 0m21.665s
|
|
2026-02-11 18:17:16.023670: 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`.
|
|
2026-02-11 18:17:16.073206: 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
|
|
2026-02-11 18:17:16.073251: 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
|
|
2026-02-11 18:17:16.074552: 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
|
|
2026-02-11 18:17:16.082033: 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.
|
|
2026-02-11 18:17:16.997362: 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 [00:23<02:20, 23.41s/it]
|
|
29%|██▊ | 2/7 [00:46<01:55, 23.03s/it]
|
|
43%|████▎ | 3/7 [01:09<01:31, 22.95s/it]
|
|
57%|█████▋ | 4/7 [01:31<01:08, 22.91s/it]
|
|
71%|███████▏ | 5/7 [01:54<00:45, 22.87s/it]
|
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86%|████████▌ | 6/7 [02:17<00:22, 22.84s/it]
|
|
100%|██████████| 7/7 [02:40<00:00, 22.82s/it]
|
|
100%|██████████| 7/7 [02:40<00:00, 22.89s/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 ...
|
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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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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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real 3m19.148s
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user 3m23.714s
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sys 0m17.343s
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2026-02-11 18:20:35.210324: 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`.
|
|
2026-02-11 18:20:35.259487: 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
|
|
2026-02-11 18:20:35.259530: 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
|
|
2026-02-11 18:20:35.260816: 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
|
|
2026-02-11 18:20:35.268252: 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.
|
|
2026-02-11 18:20:36.181189: 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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>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
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DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
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DEBUG:PIL.Image:Importing CurImagePlugin
|
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DEBUG:PIL.Image:Importing DcxImagePlugin
|
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DEBUG:PIL.Image:Importing DdsImagePlugin
|
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DEBUG:PIL.Image:Importing EpsImagePlugin
|
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DEBUG:PIL.Image:Importing FitsImagePlugin
|
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DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
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DEBUG:PIL.Image:Importing FliImagePlugin
|
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DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
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 GbrImagePlugin
|
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DEBUG:PIL.Image:Importing GifImagePlugin
|
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|
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|
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|
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DEBUG:PIL.Image:Importing IcoImagePlugin
|
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DEBUG:PIL.Image:Importing ImImagePlugin
|
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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 Jpeg2KImagePlugin
|
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DEBUG:PIL.Image:Importing McIdasImagePlugin
|
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DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
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DEBUG:PIL.Image:Importing MspImagePlugin
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 3m19.368s
|
|
user 3m20.438s
|
|
sys 0m21.006s
|
|
2026-02-11 18:23:54.635983: 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`.
|
|
2026-02-11 18:23:54.685542: 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
|
|
2026-02-11 18:23:54.685587: 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
|
|
2026-02-11 18:23:54.686907: 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
|
|
2026-02-11 18:23:54.694405: 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.
|
|
2026-02-11 18:23:55.620959: 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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|
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|
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100%|██████████| 11/11 [04:10<00:00, 22.82s/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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
DEBUG:PIL.Image:Importing CurImagePlugin
|
|
DEBUG:PIL.Image:Importing DcxImagePlugin
|
|
DEBUG:PIL.Image:Importing DdsImagePlugin
|
|
DEBUG:PIL.Image:Importing EpsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
|
DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
|
DEBUG:PIL.Image:Importing GifImagePlugin
|
|
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
|
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
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DEBUG:PIL.Image:Importing IcnsImagePlugin
|
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DEBUG:PIL.Image:Importing IcoImagePlugin
|
|
DEBUG:PIL.Image:Importing ImImagePlugin
|
|
DEBUG:PIL.Image:Importing ImtImagePlugin
|
|
DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
|
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
|
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
|
DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
|
DEBUG:PIL.Image:Importing MspImagePlugin
|
|
DEBUG:PIL.Image:Importing PalmImagePlugin
|
|
DEBUG:PIL.Image:Importing PcdImagePlugin
|
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
|
DEBUG:PIL.Image:Importing WebPImagePlugin
|
|
DEBUG:PIL.Image:Importing WmfImagePlugin
|
|
DEBUG:PIL.Image:Importing XbmImagePlugin
|
|
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 4m54.181s
|
|
user 4m42.838s
|
|
sys 0m37.519s
|
|
2026-02-11 18:28:48.801743: 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`.
|
|
2026-02-11 18:28:48.852069: 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
|
|
2026-02-11 18:28:48.852128: 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
|
|
2026-02-11 18:28:48.853466: 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
|
|
2026-02-11 18:28:48.861133: 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.
|
|
2026-02-11 18:28:49.784354: 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.
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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.
|
|
>>> 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
|
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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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 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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>>> 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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DEBUG:PIL.Image:Importing BlpImagePlugin
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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'
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DEBUG:PIL.Image:Importing FtexImagePlugin
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing MpegImagePlugin
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DEBUG:PIL.Image:Importing MpoImagePlugin
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real 4m54.281s
|
|
user 4m55.521s
|
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sys 0m24.747s
|
|
2026-02-11 18:33:43.119091: 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`.
|
|
2026-02-11 18:33:43.169099: 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
|
|
2026-02-11 18:33:43.169143: 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
|
|
2026-02-11 18:33:43.170444: 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
|
|
2026-02-11 18:33:43.177944: 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.
|
|
2026-02-11 18:33:44.102499: 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%|██████████| 11/11 [04:10<00:00, 22.81s/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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
DEBUG:PIL.Image:Importing CurImagePlugin
|
|
DEBUG:PIL.Image:Importing DcxImagePlugin
|
|
DEBUG:PIL.Image:Importing DdsImagePlugin
|
|
DEBUG:PIL.Image:Importing EpsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
|
DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
|
DEBUG:PIL.Image:Importing GifImagePlugin
|
|
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
|
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
|
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
|
DEBUG:PIL.Image:Importing IcoImagePlugin
|
|
DEBUG:PIL.Image:Importing ImImagePlugin
|
|
DEBUG:PIL.Image:Importing ImtImagePlugin
|
|
DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
|
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
|
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
|
DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
|
DEBUG:PIL.Image:Importing MspImagePlugin
|
|
DEBUG:PIL.Image:Importing PalmImagePlugin
|
|
DEBUG:PIL.Image:Importing PcdImagePlugin
|
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
|
DEBUG:PIL.Image:Importing PdfImagePlugin
|
|
DEBUG:PIL.Image:Importing PixarImagePlugin
|
|
DEBUG:PIL.Image:Importing PngImagePlugin
|
|
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|
|
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|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
|
DEBUG:PIL.Image:Importing SunImagePlugin
|
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
|
DEBUG:PIL.Image:Importing TiffImagePlugin
|
|
DEBUG:PIL.Image:Importing WebPImagePlugin
|
|
DEBUG:PIL.Image:Importing WmfImagePlugin
|
|
DEBUG:PIL.Image:Importing XbmImagePlugin
|
|
DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 4m54.135s
|
|
user 4m50.606s
|
|
sys 0m29.626s
|
|
2026-02-11 18:38:37.252690: 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`.
|
|
2026-02-11 18:38:37.301897: 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
|
|
2026-02-11 18:38:37.301950: 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
|
|
2026-02-11 18:38:37.303254: 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
|
|
2026-02-11 18:38:37.310679: 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.
|
|
2026-02-11 18:38:38.237893: 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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|
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|
|
64%|██████▎ | 7/11 [02:40<01:31, 22.81s/it]
|
|
73%|███████▎ | 8/11 [03:02<01:08, 22.80s/it]
|
|
82%|████████▏ | 9/11 [03:25<00:45, 22.78s/it]
|
|
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|
|
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|
|
100%|██████████| 11/11 [04:11<00:00, 22.83s/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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
DEBUG:PIL.Image:Importing CurImagePlugin
|
|
DEBUG:PIL.Image:Importing DcxImagePlugin
|
|
DEBUG:PIL.Image:Importing DdsImagePlugin
|
|
DEBUG:PIL.Image:Importing EpsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
|
DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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real 4m54.378s
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user 4m49.022s
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sys 0m30.777s
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2026-02-11 18:43:31.592464: 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`.
|
|
2026-02-11 18:43:31.641865: 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
|
|
2026-02-11 18:43:31.641908: 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
|
|
2026-02-11 18:43:31.643209: 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
|
|
2026-02-11 18:43:31.650663: 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.
|
|
2026-02-11 18:43:32.564662: 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
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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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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>>>>>>>>>>>>>>>>>>>>>>>>
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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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>>>>>>>>>>>>>>>>>>>>>>>>
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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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>>>>>>>>>>>>>>>>>>>>>>>>
|
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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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>>> Step 11: generating actions ...
|
|
>>> Step 11: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
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DEBUG:PIL.Image:Importing BlpImagePlugin
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|
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
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DEBUG:PIL.Image:Importing FtexImagePlugin
|
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|
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|
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
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|
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|
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|
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|
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|
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|
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|
|
real 5m12.679s
|
|
user 5m10.272s
|
|
sys 0m29.541s
|
|
2026-02-11 18:48:44.235405: 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`.
|
|
2026-02-11 18:48:44.285138: 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
|
|
2026-02-11 18:48:44.285181: 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
|
|
2026-02-11 18:48:44.286531: 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
|
|
2026-02-11 18:48:44.294141: 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.
|
|
2026-02-11 18:48:45.209453: 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 11: generating actions ...
|
|
>>> Step 11: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
DEBUG:PIL.Image:Importing CurImagePlugin
|
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DEBUG:PIL.Image:Importing DcxImagePlugin
|
|
DEBUG:PIL.Image:Importing DdsImagePlugin
|
|
DEBUG:PIL.Image:Importing EpsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
|
DEBUG:PIL.Image:Importing FitsStubImagePlugin
|
|
DEBUG:PIL.Image:Importing FliImagePlugin
|
|
DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing FtexImagePlugin
|
|
DEBUG:PIL.Image:Importing GbrImagePlugin
|
|
DEBUG:PIL.Image:Importing GifImagePlugin
|
|
DEBUG:PIL.Image:Importing GribStubImagePlugin
|
|
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
|
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
|
DEBUG:PIL.Image:Importing IcoImagePlugin
|
|
DEBUG:PIL.Image:Importing ImImagePlugin
|
|
DEBUG:PIL.Image:Importing ImtImagePlugin
|
|
DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
|
DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
|
|
DEBUG:PIL.Image:Importing McIdasImagePlugin
|
|
DEBUG:PIL.Image:Importing MicImagePlugin
|
|
DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
|
|
DEBUG:PIL.Image:Importing MpegImagePlugin
|
|
DEBUG:PIL.Image:Importing MpoImagePlugin
|
|
DEBUG:PIL.Image:Importing MspImagePlugin
|
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DEBUG:PIL.Image:Importing PalmImagePlugin
|
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DEBUG:PIL.Image:Importing PcdImagePlugin
|
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DEBUG:PIL.Image:Importing PcxImagePlugin
|
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DEBUG:PIL.Image:Importing PdfImagePlugin
|
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DEBUG:PIL.Image:Importing PixarImagePlugin
|
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DEBUG:PIL.Image:Importing PngImagePlugin
|
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DEBUG:PIL.Image:Importing PpmImagePlugin
|
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DEBUG:PIL.Image:Importing PsdImagePlugin
|
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DEBUG:PIL.Image:Importing QoiImagePlugin
|
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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
|
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DEBUG:PIL.Image:Importing WebPImagePlugin
|
|
DEBUG:PIL.Image:Importing WmfImagePlugin
|
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DEBUG:PIL.Image:Importing XbmImagePlugin
|
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DEBUG:PIL.Image:Importing XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
|
real 5m12.817s
|
|
user 5m5.429s
|
|
sys 0m34.879s
|
|
2026-02-11 18:53:57.068615: 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`.
|
|
2026-02-11 18:53:57.118271: 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
|
|
2026-02-11 18:53:57.118312: 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
|
|
2026-02-11 18:53:57.119665: 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
|
|
2026-02-11 18:53:57.127266: 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.
|
|
2026-02-11 18:53:58.042116: 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.
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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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>>> 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 10: generating actions ...
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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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DEBUG:PIL.Image:Importing BlpImagePlugin
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real 5m12.616s
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user 5m6.750s
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sys 0m32.204s
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2026-02-11 18:59:09.688302: 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`.
|
|
2026-02-11 18:59:09.737473: 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
|
|
2026-02-11 18:59:09.737518: 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
|
|
2026-02-11 18:59:09.738835: 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
|
|
2026-02-11 18:59:09.746322: 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.
|
|
2026-02-11 18:59:10.660940: 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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>>> 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 ...
|
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>>> Step 3: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 4: generating actions ...
|
|
>>> Step 4: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 5: generating actions ...
|
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>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
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|
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|
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Importing FtexImagePlugin
|
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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real 5m12.608s
|
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user 5m4.451s
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sys 0m35.253s
|