150 lines
12 KiB
Plaintext
150 lines
12 KiB
Plaintext
/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/lightning_fabric/__init__.py:29: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
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__import__("pkg_resources").declare_namespace(__name__)
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2026-02-08 08:15:49.934949: 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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2026-02-08 08:15:49.937974: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
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2026-02-08 08:15:49.969069: 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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2026-02-08 08:15:49.969100: 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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2026-02-08 08:15:49.970909: 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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2026-02-08 08:15:49.979005: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used.
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2026-02-08 08:15:49.979255: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
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2026-02-08 08:15:50.597743: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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[rank: 0] Global seed set to 123
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/kornia/feature/lightglue.py:44: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
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@torch.cuda.amp.custom_fwd(cast_inputs=torch.float32)
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INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode
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INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
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INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08
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AE working on z of shape (1, 4, 32, 32) = 4096 dimensions.
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INFO:root:Loaded ViT-H-14 model config.
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DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443
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DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
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INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/open_clip/factory.py:88: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
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checkpoint = torch.load(checkpoint_path, map_location=map_location)
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INFO:root:Loaded ViT-H-14 model config.
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DEBUG:urllib3.connectionpool:https://hf-mirror.com:443 "HEAD /laion/CLIP-ViT-H-14-laion2B-s32B-b79K/resolve/main/open_clip_pytorch_model.bin HTTP/1.1" 302 0
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INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k).
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/mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:86: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
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state_dict = torch.load(ckpt, map_location="cpu")
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>>> model checkpoint loaded.
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>>> Load pre-trained model ...
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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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>>> Generate 16 frames under each generation ...
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DEBUG:h5py._conv:Creating converter from 3 to 5
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DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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0%| | 0/12 [00:00<?, ?it/s]/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:5501: UserWarning: Attempting to use hipBLASLt on an unsupported architecture! Overriding blas backend to hipblas (Triggered internally at ../aten/src/ATen/Context.cpp:296.)
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proj = linear(q, w, b)
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Flash attention support on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:225.)
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attn_output = scaled_dot_product_attention(
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/mnt/ASC1637/miniconda3/envs/unifolm-wma-o/lib/python3.10/site-packages/torch/nn/functional.py:6278: UserWarning: Memory Efficient attention on Navi31 GPU is still experimental. Enable it with TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1. (Triggered internally at ../aten/src/ATen/native/transformers/hip/sdp_utils.cpp:269.)
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attn_output = scaled_dot_product_attention(
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>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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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 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 IcoImagePlugin
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DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
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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 PdfImagePlugin
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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 TgaImagePlugin
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DEBUG:PIL.Image:Importing TiffImagePlugin
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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>>> Step 1: interacting with world model ...
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>> Step 8: generating actions ...
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>>> Step 8: interacting with world model ...
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>>> Step 9: generating actions ...
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>>> Step 9: interacting with world model ...
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>>> Step 10: generating actions ...
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>>> Step 10: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 11: generating actions ...
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>>> Step 11: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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real 20m36.252s
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user 18m13.951s
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sys 0m58.438s
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