From 25c6a328efaef4495eff28af65f48d38565fd3ea Mon Sep 17 00:00:00 2001 From: olivame Date: Wed, 11 Feb 2026 07:12:16 +0000 Subject: [PATCH] =?UTF-8?q?=E7=BB=93=E6=9E=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../case1/output.log | 68 +++++++++---------- .../case1/psnr_result1.json | 2 +- 2 files changed, 35 insertions(+), 35 deletions(-) diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/output.log b/unitree_z1_dual_arm_cleanup_pencils/case1/output.log index 779fdcc..65105bf 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case1/output.log +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/output.log @@ -1,14 +1,14 @@ /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. __import__("pkg_resources").declare_namespace(__name__) -2026-02-10 17:57:48.047156: 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`. -2026-02-10 17:57:48.050303: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used. -2026-02-10 17:57:48.081710: 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 -2026-02-10 17:57:48.081741: 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 -2026-02-10 17:57:48.083577: 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 -2026-02-10 17:57:48.091772: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used. -2026-02-10 17:57:48.092045: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +2026-02-11 06:58:19.745318: 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 06:58:19.748691: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used. +2026-02-11 06:58:19.782405: 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 06:58:19.782465: 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 06:58:19.784464: 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 06:58:19.793381: I external/local_tsl/tsl/cuda/cudart_stub.cc:31] Could not find cuda drivers on your machine, GPU will not be used. +2026-02-11 06:58:19.794103: 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 AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. -2026-02-10 17:57:48.787960: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-02-11 06:58:20.607029: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT [rank: 0] Global seed set to 123 /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. @torch.cuda.amp.custom_fwd(cast_inputs=torch.float32) @@ -66,8 +66,31 @@ DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9 DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096 0%| | 0/8 [00:00>> 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 @@ -117,30 +140,7 @@ DEBUG:PIL.Image:Importing WmfImagePlugin DEBUG:PIL.Image:Importing XbmImagePlugin DEBUG:PIL.Image:Importing XpmImagePlugin DEBUG:PIL.Image:Importing XVThumbImagePlugin - 12%|█▎ | 1/8 [01:03<07:22, 63.25s/it] 25%|██▌ | 2/8 [02:02<06:05, 60.93s/it] 38%|███▊ | 3/8 [03:01<05:00, 60.19s/it] 50%|█████ | 4/8 [04:01<03:59, 59.85s/it] 62%|██████▎ | 5/8 [05:00<02:59, 59.69s/it] 75%|███████▌ | 6/8 [05:59<01:59, 59.54s/it] 88%|████████▊ | 7/8 [06:59<00:59, 59.43s/it] 100%|██████████| 8/8 [07:58<00:00, 59.46s/it] 100%|██████████| 8/8 [07:58<00:00, 59.82s/it] ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 1: generating actions ... ->>> Step 1: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 2: generating actions ... ->>> Step 2: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 3: generating actions ... ->>> Step 3: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 4: generating actions ... ->>> Step 4: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 5: generating actions ... ->>> Step 5: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 6: generating actions ... ->>> Step 6: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> ->>> Step 7: generating actions ... ->>> Step 7: interacting with world model ... ->>>>>>>>>>>>>>>>>>>>>>>> -real 9m13.133s -user 11m35.465s -sys 1m9.437s +real 9m8.898s +user 10m49.620s +sys 1m18.100s diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result1.json b/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result1.json index 0aeb56e..47f7f4b 100644 --- a/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result1.json +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result1.json @@ -1,5 +1,5 @@ { "gt_video": "/mnt/ASC1637/unifolm-world-model-action/unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/unitree_z1_dual_arm_cleanup_pencils_case1_amd.mp4", "pred_video": "/mnt/ASC1637/unifolm-world-model-action/unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/0_full_fs4.mp4", - "psnr": 32.442113263955434 + "psnr": 30.34518638635329 } \ No newline at end of file