保存结果一次

unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_backbone_reuse_output546.sh

@@ -0,0 +1,31 @@
+res_dir="unitree_z1_dual_arm_stackbox_v2/case2"
+dataset="unitree_z1_dual_arm_stackbox_v2"
+
+{
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
+        --seed 123 \
+        --ckpt_path ckpts/unifolm_wma_dual.ckpt \
+        --config configs/inference/world_model_interaction.yaml \
+        --savedir "${res_dir}/output/backbone_reuse_output546_tail_sparse_8" \
+        --bs 1 --height 320 --width 512 \
+        --unconditional_guidance_scale 1.0 \
+        --ddim_steps 50 \
+        --ddim_eta 1.0 \
+        --prompt_dir "unitree_z1_dual_arm_stackbox_v2/case2/world_model_interaction_prompts" \
+        --dataset ${dataset} \
+        --video_length 16 \
+        --frame_stride 4 \
+        --n_action_steps 16 \
+        --exe_steps 16 \
+        --n_iter 11 \
+        --timestep_spacing 'uniform_trailing' \
+        --guidance_rescale 0.7 \
+        --perframe_ae \
+        --analysis_log_metrics \
+        --analysis_reference_steps 50 \
+        --backbone_reuse_mode reuse_output \
+        --backbone_reuse_blocks output_5 output_4 output_6 \
+        --backbone_reuse_start_step 35 \
+        --backbone_reuse_schedule_steps 35 37 39 41 43 45 47 49 \
+        --backbone_reuse_force_compute_steps 50
+} 2>&1 | tee "${res_dir}/output_backbone_reuse_output546_tail_sparse_8.log"

unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_reuse_output546.sh

@@ -0,0 +1,31 @@
+res_dir="unitree_z1_dual_arm_stackbox_v2/case3"
+dataset="unitree_z1_dual_arm_stackbox_v2"
+
+{
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
+        --seed 123 \
+        --ckpt_path ckpts/unifolm_wma_dual.ckpt \
+        --config configs/inference/world_model_interaction.yaml \
+        --savedir "${res_dir}/output/backbone_reuse_output546_tail_sparse_8" \
+        --bs 1 --height 320 --width 512 \
+        --unconditional_guidance_scale 1.0 \
+        --ddim_steps 50 \
+        --ddim_eta 1.0 \
+        --prompt_dir "unitree_z1_dual_arm_stackbox_v2/case3/world_model_interaction_prompts" \
+        --dataset ${dataset} \
+        --video_length 16 \
+        --frame_stride 4 \
+        --n_action_steps 16 \
+        --exe_steps 16 \
+        --n_iter 11 \
+        --timestep_spacing 'uniform_trailing' \
+        --guidance_rescale 0.7 \
+        --perframe_ae \
+        --analysis_log_metrics \
+        --analysis_reference_steps 50 \
+        --backbone_reuse_mode reuse_output \
+        --backbone_reuse_blocks output_5 output_4 output_6 \
+        --backbone_reuse_start_step 35 \
+        --backbone_reuse_schedule_steps 35 37 39 41 43 45 47 49 \
+        --backbone_reuse_force_compute_steps 50
+} 2>&1 | tee "${res_dir}/output_backbone_reuse_output546_tail_sparse_8.log"