多卡流水导出

scripts/export_trt.py

@@ -0,0 +1,209 @@
+"""Export video UNet backbone to ONNX, then convert to TensorRT engine.
+
+Usage:
+    python scripts/export_trt.py \
+        --ckpt ckpts/unifolm_wma_dual.ckpt.prepared.pt \
+        --config configs/inference/world_model_interaction.yaml \
+        --out_dir trt_engines
+
+    python scripts/export_trt.py \
+        --ckpt ckpts/unifolm_wma_dual.ckpt.prepared.pt \
+        --config configs/inference/world_model_interaction.yaml \
+        --engine_path trt_engines/video_backbone_multigpu.engine \
+        --onnx_path trt_engines/video_backbone_multigpu.onnx
+"""
+
+import os
+import sys
+import argparse
+import json
+
+import torch
+import tensorrt as trt
+from omegaconf import OmegaConf
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', 'src'))
+from unifolm_wma.utils.utils import instantiate_from_config
+from unifolm_wma.trt_utils import export_backbone_onnx
+
+
+class TacticRecorder(trt.IAlgorithmSelector):
+    """Pass 1: record all candidate tactics and the auto-selected winner."""
+
+    def __init__(self):
+        super().__init__()
+        self.records = {}  # layer_name -> {candidates: [...], selected: ...}
+
+    def select_algorithms(self, ctx, choices):
+        name = ctx.name
+        # Collect input/output shapes
+        inputs = []
+        for j in range(ctx.num_inputs):
+            try:
+                inputs.append([int(d) for d in ctx.get_shape(j)])
+            except Exception:
+                inputs.append(None)
+        outputs = []
+        for j in range(ctx.num_outputs):
+            try:
+                outputs.append([int(d) for d in ctx.get_shape(ctx.num_inputs + j)])
+            except Exception:
+                outputs.append(None)
+        self.records[name] = {
+            "input_shapes": inputs,
+            "output_shapes": outputs,
+            "candidates": [],
+            "selected": None,
+        }
+        for i, c in enumerate(choices):
+            v = c.algorithm_variant
+            self.records[name]["candidates"].append({
+                "index": i,
+                "implementation": v.implementation,
+                "tactic": v.tactic,
+                "timing_msec": c.timing_msec,
+                "workspace_size": c.workspace_size,
+            })
+        # return all indices -> let TRT auto-pick the fastest
+        return list(range(len(choices)))
+
+    def report_algorithms(self, ctx, choices):
+        # Both ctx and choices are lists in report_algorithms
+        for c, alg in zip(ctx, choices):
+            name = c.name
+            if name in self.records:
+                v = alg.algorithm_variant
+                self.records[name]["selected"] = {
+                    "implementation": v.implementation,
+                    "tactic": v.tactic,
+                    "timing_msec": alg.timing_msec,
+                    "workspace_size": alg.workspace_size,
+                }
+
+    def save(self, path):
+        with open(path, "w") as f:
+            json.dump(self.records, f, indent=2)
+        print(f">>> Tactic info saved to {path} ({len(self.records)} layers)")
+
+
+class TacticForcer(trt.IAlgorithmSelector):
+    """Pass 2: force user-specified tactics from a JSON file."""
+
+    def __init__(self, path):
+        super().__init__()
+        with open(path) as f:
+            self.overrides = json.load(f)
+        n = sum(1 for v in self.overrides.values() if v.get("force"))
+        print(f">>> Loaded tactic overrides: {n} layers with 'force' set")
+
+    def select_algorithms(self, ctx, choices):
+        name = ctx.name
+        override = self.overrides.get(name)
+        if override and override.get("force"):
+            target_impl = override["force"]["implementation"]
+            target_tactic = override["force"]["tactic"]
+            for i, c in enumerate(choices):
+                v = c.algorithm_variant
+                if v.implementation == target_impl and v.tactic == target_tactic:
+                    return [i]
+            print(f"    WARN: forced tactic not found for {name}, using auto")
+        return list(range(len(choices)))
+
+    def report_algorithms(self, ctx, choices):
+        pass
+
+
+def load_model(config_path, ckpt_path, device):
+    if ckpt_path.endswith('.prepared.pt'):
+        model = torch.load(ckpt_path, map_location='cpu')
+    else:
+        config = OmegaConf.load(config_path)
+        model = instantiate_from_config(config.model)
+        state_dict = torch.load(ckpt_path, map_location='cpu')
+        if 'state_dict' in state_dict:
+            state_dict = state_dict['state_dict']
+        model.load_state_dict(state_dict, strict=False)
+    model.eval().to(device)
+    return model
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--ckpt', required=True)
+    parser.add_argument('--config', default='configs/inference/world_model_interaction.yaml')
+    parser.add_argument('--out_dir', default='trt_engines')
+    parser.add_argument('--gpu_id',
+                        type=int,
+                        default=0,
+                        help='CUDA device id used for ONNX export and TRT build.')
+    parser.add_argument('--onnx_path',
+                        default=None,
+                        help='Optional explicit ONNX output path. Overrides --out_dir default name.')
+    parser.add_argument('--engine_path',
+                        default=None,
+                        help='Optional explicit TensorRT engine output path. Overrides --out_dir default name.')
+    parser.add_argument('--context_len', type=int, default=95)
+    parser.add_argument('--fp16', action='store_true', default=True)
+    parser.add_argument('--dump-tactics', default=None, help='Pass 1: dump tactic info to JSON')
+    parser.add_argument('--load-tactics', default=None, help='Pass 2: force tactics from JSON')
+    args = parser.parse_args()
+    device = torch.device('cuda', args.gpu_id)
+    torch.cuda.set_device(device)
+
+    onnx_path = args.onnx_path or os.path.join(args.out_dir,
+                                               'video_backbone.onnx')
+    engine_path = args.engine_path or os.path.join(args.out_dir,
+                                                   'video_backbone.engine')
+    os.makedirs(os.path.dirname(os.path.abspath(onnx_path)), exist_ok=True)
+    os.makedirs(os.path.dirname(os.path.abspath(engine_path)), exist_ok=True)
+
+    if os.path.exists(onnx_path):
+        print(f">>> ONNX already exists at {onnx_path}, skipping export.")
+        n_outputs = 10
+    else:
+        print(">>> Loading model ...")
+        model = load_model(args.config, args.ckpt, device)
+        print(">>> Exporting ONNX ...")
+        with torch.no_grad():
+            n_outputs = export_backbone_onnx(model, onnx_path, context_len=args.context_len)
+        del model
+        torch.cuda.empty_cache()
+
+    print(">>> Converting ONNX -> TensorRT engine ...")
+    logger = trt.Logger(trt.Logger.WARNING)
+    builder = trt.Builder(logger)
+    network = builder.create_network(1 << int(trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH))
+    parser = trt.OnnxParser(network, logger)
+
+    if not parser.parse_from_file(os.path.abspath(onnx_path)):
+        for i in range(parser.num_errors):
+            print(f"    ONNX parse error: {parser.get_error(i)}")
+        raise RuntimeError("ONNX parsing failed")
+
+    config = builder.create_builder_config()
+    config.set_memory_pool_limit(trt.MemoryPoolType.WORKSPACE, 16 << 30)
+    if args.fp16:
+        config.set_flag(trt.BuilderFlag.FP16)
+
+    # Tactic selection
+    recorder = None
+    if args.dump_tactics:
+        recorder = TacticRecorder()
+        config.algorithm_selector = recorder
+    elif args.load_tactics:
+        config.algorithm_selector = TacticForcer(args.load_tactics)
+
+    engine_bytes = builder.build_serialized_network(network, config)
+
+    if recorder and args.dump_tactics:
+        recorder.save(args.dump_tactics)
+
+    with open(engine_path, 'wb') as f:
+        f.write(engine_bytes)
+
+    print(f"\n>>> Done! Engine saved to {engine_path}")
+    print(f"    Outputs: 1 y + {n_outputs - 1} hs_a tensors")
+
+
+if __name__ == '__main__':
+    main()

src/unifolm_wma/models/samplers/ddim.py

@@ -1,12 +1,13 @@
 import numpy as np
 import torch
 import copy
-import time
 
 from unifolm_wma.utils.diffusion import make_ddim_sampling_parameters, make_ddim_timesteps, rescale_noise_cfg
 from unifolm_wma.utils.common import noise_like
 from unifolm_wma.utils.common import extract_into_tensor
 from tqdm import tqdm
+from unifolm_wma.modules.attention import enable_cross_attn_kv_cache, disable_cross_attn_kv_cache
+from unifolm_wma.modules.networks.wma_model import enable_ctx_cache, disable_ctx_cache
 
 
 class DDIMSampler(object):
@@ -20,8 +21,9 @@ class DDIMSampler(object):
 
     def register_buffer(self, name, attr):
         if type(attr) == torch.Tensor:
-            if attr.device != torch.device("cuda"):
-                attr = attr.to(torch.device("cuda"))
+            target_device = self.model.device
+            if attr.device != target_device:
+                attr = attr.to(target_device)
         setattr(self, name, attr)
 
     def make_schedule(self,
@@ -68,11 +70,12 @@ class DDIMSampler(object):
             ddim_timesteps=self.ddim_timesteps,
             eta=ddim_eta,
             verbose=verbose)
-        self.register_buffer('ddim_sigmas', ddim_sigmas)
-        self.register_buffer('ddim_alphas', ddim_alphas)
-        self.register_buffer('ddim_alphas_prev', ddim_alphas_prev)
+        # Ensure tensors are on correct device for efficient indexing
+        self.register_buffer('ddim_sigmas', to_torch(torch.as_tensor(ddim_sigmas)))
+        self.register_buffer('ddim_alphas', to_torch(torch.as_tensor(ddim_alphas)))
+        self.register_buffer('ddim_alphas_prev', to_torch(torch.as_tensor(ddim_alphas_prev)))
         self.register_buffer('ddim_sqrt_one_minus_alphas',
-                             np.sqrt(1. - ddim_alphas))
+                             to_torch(torch.as_tensor(np.sqrt(1. - ddim_alphas))))
         sigmas_for_original_sampling_steps = ddim_eta * torch.sqrt(
             (1 - self.alphas_cumprod_prev) / (1 - self.alphas_cumprod) *
             (1 - self.alphas_cumprod / self.alphas_cumprod_prev))
@@ -107,17 +110,9 @@ class DDIMSampler(object):
             fs=None,
             timestep_spacing='uniform',  #uniform_trailing for starting from last timestep
             guidance_rescale=0.0,
-            action_T=None,
-            state_T=None,
-            record_step_outputs=False,
-            head_schedule=None,
-            head_log_steps=None,
-            head_skip_mode="reuse_prediction",
-            backbone_reuse_blocks=None,
-            backbone_reuse_start_step=None,
-            backbone_reuse_schedule_steps=None,
-            backbone_reuse_force_compute_steps=None,
-            backbone_reuse_mode="disabled",
+            handoff_step: int = 0,
+            handoff_callback=None,
+            stop_at_handoff: bool = False,
             **kwargs):
 
         # Check condition bs
@@ -173,17 +168,9 @@ class DDIMSampler(object):
             precision=precision,
             fs=fs,
             guidance_rescale=guidance_rescale,
-            action_T=action_T,
-            state_T=state_T,
-            record_step_outputs=record_step_outputs,
-            head_schedule=head_schedule,
-            head_log_steps=head_log_steps,
-            head_skip_mode=head_skip_mode,
-            backbone_reuse_blocks=backbone_reuse_blocks,
-            backbone_reuse_start_step=backbone_reuse_start_step,
-            backbone_reuse_schedule_steps=backbone_reuse_schedule_steps,
-            backbone_reuse_force_compute_steps=backbone_reuse_force_compute_steps,
-            backbone_reuse_mode=backbone_reuse_mode,
+            handoff_step=handoff_step,
+            handoff_callback=handoff_callback,
+            stop_at_handoff=stop_at_handoff,
             **kwargs)
         return samples, actions, states, intermediates
 
@@ -210,44 +197,23 @@ class DDIMSampler(object):
                       precision=None,
                       fs=None,
                       guidance_rescale=0.0,
-                      action_T=None,
-                      state_T=None,
-                      record_step_outputs=False,
-                      head_schedule=None,
-                      head_log_steps=None,
-                      head_skip_mode="reuse_prediction",
-                      backbone_reuse_blocks=None,
-                      backbone_reuse_start_step=None,
-                      backbone_reuse_schedule_steps=None,
-                      backbone_reuse_force_compute_steps=None,
-                      backbone_reuse_mode="disabled",
+                      handoff_step: int = 0,
+                      handoff_callback=None,
+                      stop_at_handoff: bool = False,
                       **kwargs):
         device = self.model.betas.device
         dp_ddim_scheduler_action = self.model.dp_noise_scheduler_action
         dp_ddim_scheduler_state = self.model.dp_noise_scheduler_state
 
         b = shape[0]
-        horizon = shape[2] if len(shape) >= 3 else 16
         if x_T is None:
             img = torch.randn(shape, device=device)
+            action = torch.randn((b, 16, self.model.agent_action_dim), device=device)
+            state = torch.randn((b, 16, self.model.agent_state_dim), device=device)
         else:
             img = x_T
-        if action_T is None:
-            action = torch.randn((b, horizon, self.model.agent_action_dim),
-                                 device=device)
-        else:
-            action = action_T
-        if state_T is None:
-            state = torch.randn((b, horizon, self.model.agent_state_dim),
-                                device=device)
-        else:
-            state = state_T
-
-        if precision is not None:
-            if precision == 16:
-                img = img.to(dtype=torch.float16)
-                action = action.to(dtype=torch.float16)
-                state = state.to(dtype=torch.float16)
+            action = torch.randn((b, 16, self.model.agent_action_dim), device=device)
+            state = torch.randn((b, 16, self.model.agent_state_dim), device=device)
 
         if timesteps is None:
             timesteps = self.ddpm_num_timesteps if ddim_use_original_steps else self.ddim_timesteps
@@ -265,40 +231,6 @@ class DDIMSampler(object):
             'x_inter_state': [state],
             'pred_x0_state': [state],
         }
-        if record_step_outputs:
-            intermediates['analysis_init'] = {
-                'img': img.detach().cpu(),
-                'action': action.detach().cpu(),
-                'state': state.detach().cpu(),
-            }
-            intermediates['step_records'] = []
-        head_schedule_set = None if head_schedule is None else {
-            int(step_index) for step_index in head_schedule
-        }
-        head_log_steps_set = None if head_log_steps is None else {
-            int(step_index) for step_index in head_log_steps
-        }
-        if head_log_steps_set is not None:
-            intermediates['head_sparse_logs'] = {}
-        backbone_reuse_blocks_set = None if backbone_reuse_blocks is None else {
-            str(block_name) for block_name in backbone_reuse_blocks
-        }
-        backbone_reuse_schedule_steps_set = (
-            None if backbone_reuse_schedule_steps is None else {
-                int(step_index) for step_index in backbone_reuse_schedule_steps
-            })
-        backbone_reuse_force_compute_steps_set = (
-            None if backbone_reuse_force_compute_steps is None else {
-                int(step_index)
-                for step_index in backbone_reuse_force_compute_steps
-            })
-        backbone_reuse_active = (backbone_reuse_mode == "reuse_output"
-                                 and backbone_reuse_blocks_set)
-        backbone_reuse_cache = {
-            'single': {},
-            'cond': {},
-            'uncond': {},
-        }
         time_range = reversed(range(
             0, timesteps)) if ddim_use_original_steps else np.flip(timesteps)
         total_steps = timesteps if ddim_use_original_steps else timesteps.shape[
@@ -309,89 +241,50 @@ class DDIMSampler(object):
             iterator = time_range
 
         clean_cond = kwargs.pop("clean_cond", False)
-        sync_device = device if isinstance(device, torch.device) else torch.device(
-            device)
-        should_sync = record_step_outputs and sync_device.type == "cuda"
-        if head_skip_mode not in {"reuse_prediction", "freeze_state"}:
-            raise ValueError(
-                f"Unsupported head_skip_mode={head_skip_mode!r}. "
-                "Expected 'reuse_prediction' or 'freeze_state'.")
-        if backbone_reuse_mode not in {"disabled", "reuse_output"}:
-            raise ValueError(
-                f"Unsupported backbone_reuse_mode={backbone_reuse_mode!r}. "
-                "Expected 'disabled' or 'reuse_output'.")
-        x_action_frozen = action.detach().clone()
-        x_state_frozen = state.detach().clone()
-        action_pred_cache = None
-        state_pred_cache = None
-
         dp_ddim_scheduler_action.set_timesteps(len(timesteps))
         dp_ddim_scheduler_state.set_timesteps(len(timesteps))
-        for i, step in enumerate(iterator):
-            index = total_steps - i - 1
-            ts = torch.full((b, ), step, device=device, dtype=torch.long)
+        ts = torch.empty((b, ), device=device, dtype=torch.long)
+        enable_cross_attn_kv_cache(self.model)
+        enable_ctx_cache(self.model)
+        handoff = {}
+        try:
+            for i, step in enumerate(iterator):
+                index = total_steps - i - 1
+                ts.fill_(step)
 
-            # Use mask to blend noised original latent (img_orig) & new sampled latent (img)
-            if mask is not None:
-                assert x0 is not None
-                if clean_cond:
-                    img_orig = x0
-                else:
-                    img_orig = self.model.q_sample(x0, ts)
-                img = img_orig * mask + (1. - mask) * img
+                # Use mask to blend noised original latent (img_orig) & new sampled latent (img)
+                if mask is not None:
+                    assert x0 is not None
+                    if clean_cond:
+                        img_orig = x0
+                    else:
+                        img_orig = self.model.q_sample(x0, ts)
+                    img = img_orig * mask + (1. - mask) * img
 
-            if should_sync:
-                torch.cuda.synchronize(sync_device)
-            step_start_time = time.time()
-            scheduled_head = head_schedule_set is None or i in head_schedule_set
-            if head_skip_mode == "reuse_prediction":
-                run_head = scheduled_head or action_pred_cache is None or state_pred_cache is None
-            else:
-                run_head = scheduled_head
-            backbone_reuse_step_stats: dict[str, set[str]] | None = None
-            if backbone_reuse_active:
-                backbone_reuse_step_stats = {
-                    'single': set(),
-                    'cond': set(),
-                    'uncond': set(),
-                }
+                outs = self.p_sample_ddim(
+                    img,
+                    action,
+                    state,
+                    cond,
+                    ts,
+                    index=index,
+                    precision=precision,
+                    use_original_steps=ddim_use_original_steps,
+                    quantize_denoised=quantize_denoised,
+                    temperature=temperature,
+                    noise_dropout=noise_dropout,
+                    score_corrector=score_corrector,
+                    corrector_kwargs=corrector_kwargs,
+                    unconditional_guidance_scale=unconditional_guidance_scale,
+                    unconditional_conditioning=unconditional_conditioning,
+                    mask=mask,
+                    x0=x0,
+                    fs=fs,
+                    guidance_rescale=guidance_rescale,
+                    **kwargs)
 
-            outs = self.p_sample_ddim(
-                img,
-                action,
-                state,
-                cond,
-                ts,
-                index=index,
-                use_original_steps=ddim_use_original_steps,
-                quantize_denoised=quantize_denoised,
-                temperature=temperature,
-                noise_dropout=noise_dropout,
-                score_corrector=score_corrector,
-                corrector_kwargs=corrector_kwargs,
-                unconditional_guidance_scale=unconditional_guidance_scale,
-                unconditional_conditioning=unconditional_conditioning,
-                mask=mask,
-                x0=x0,
-                fs=fs,
-                guidance_rescale=guidance_rescale,
-                backbone_step_index=i + 1,
-                run_head=run_head,
-                backbone_reuse_blocks=backbone_reuse_blocks_set,
-                backbone_reuse_start_step=backbone_reuse_start_step,
-                backbone_reuse_schedule_steps=backbone_reuse_schedule_steps_set,
-                backbone_reuse_force_compute_steps=
-                backbone_reuse_force_compute_steps_set,
-                backbone_reuse_mode=backbone_reuse_mode,
-                backbone_reuse_cache=backbone_reuse_cache,
-                backbone_reuse_step_stats=backbone_reuse_step_stats,
-                **kwargs)
+                img, pred_x0, model_output_action, model_output_state = outs
 
-            img, pred_x0, model_output_action, model_output_state = outs
-
-            if run_head:
-                action_pred_cache = model_output_action.detach().clone()
-                state_pred_cache = model_output_state.detach().clone()
                 action = dp_ddim_scheduler_action.step(
                     model_output_action,
                     step,
@@ -404,73 +297,35 @@ class DDIMSampler(object):
                     state,
                     generator=None,
                 ).prev_sample
-                x_action_frozen = action.detach().clone()
-                x_state_frozen = state.detach().clone()
-            else:
-                if head_skip_mode == "reuse_prediction":
-                    action = dp_ddim_scheduler_action.step(
-                        action_pred_cache,
-                        step,
-                        action,
-                        generator=None,
-                    ).prev_sample
-                    state = dp_ddim_scheduler_state.step(
-                        state_pred_cache,
-                        step,
-                        state,
-                        generator=None,
-                    ).prev_sample
-                    x_action_frozen = action.detach().clone()
-                    x_state_frozen = state.detach().clone()
-                else:
-                    action = x_action_frozen
-                    state = x_state_frozen
 
-            if should_sync:
-                torch.cuda.synchronize(sync_device)
-            step_time_s = time.time() - step_start_time
+                if callback: callback(i)
+                if img_callback: img_callback(pred_x0, i)
 
-            if callback: callback(i)
-            if img_callback: img_callback(pred_x0, i)
+                if handoff_step > 0 and (i + 1) == handoff_step:
+                    handoff = {
+                        'samples': img.clone(),
+                        'actions': action.clone(),
+                        'states': state.clone(),
+                        'pred_x0': pred_x0.clone(),
+                        'step': i + 1,
+                    }
+                    if handoff_callback is not None:
+                        handoff_callback(handoff)
+                    if stop_at_handoff:
+                        intermediates['handoff'] = handoff
+                        break
 
-            reused_blocks = []
-            if backbone_reuse_step_stats is not None:
-                if unconditional_conditioning is None or unconditional_guidance_scale == 1.:
-                    reused_blocks = sorted(backbone_reuse_step_stats['single'])
-                else:
-                    reused_blocks = sorted(
-                        backbone_reuse_step_stats['cond']
-                        | backbone_reuse_step_stats['uncond'])
-
-            if index % log_every_t == 0 or index == total_steps - 1:
-                intermediates['x_inter'].append(img)
-                intermediates['pred_x0'].append(pred_x0)
-                intermediates['x_inter_action'].append(action)
-                intermediates['x_inter_state'].append(state)
-            if head_log_steps_set is not None and i in head_log_steps_set:
-                intermediates['head_sparse_logs'][i] = {
-                    'step_index': i,
-                    'ddim_timestep': int(step),
-                    'head_executed': run_head,
-                    'img': img.detach().cpu(),
-                    'pred_x0': pred_x0.detach().cpu(),
-                    'action': action.detach().cpu(),
-                    'state': state.detach().cpu(),
-                }
-            if record_step_outputs:
-                intermediates['step_records'].append({
-                    'step_index': i + 1,
-                    'ddim_timestep': int(step),
-                    'head_executed': run_head,
-                    'img': img.detach().cpu(),
-                    'pred_x0': pred_x0.detach().cpu(),
-                    'action': action.detach().cpu(),
-                    'state': state.detach().cpu(),
-                    'step_time_s': step_time_s,
-                    'backbone_reused_blocks_count': len(reused_blocks),
-                    'backbone_reuse_hit_blocks': ",".join(reused_blocks),
-                })
+                if index % log_every_t == 0 or index == total_steps - 1:
+                    intermediates['x_inter'].append(img)
+                    intermediates['pred_x0'].append(pred_x0)
+                    intermediates['x_inter_action'].append(action)
+                    intermediates['x_inter_state'].append(state)
+        finally:
+            disable_cross_attn_kv_cache(self.model)
+            disable_ctx_cache(self.model)
 
+        if handoff_step > 0:
+            intermediates['handoff'] = handoff
         return img, action, state, intermediates
 
     @torch.no_grad()
@@ -481,6 +336,7 @@ class DDIMSampler(object):
                       c,
                       t,
                       index,
+                      precision=None,
                       repeat_noise=False,
                       use_original_steps=False,
                       quantize_denoised=False,
@@ -495,62 +351,35 @@ class DDIMSampler(object):
                       mask=None,
                       x0=None,
                       guidance_rescale=0.0,
-                      run_head=True,
                       **kwargs):
         b, *_, device = *x.shape, x.device
-        if x.dim() == 5:
-            is_video = True
-        else:
-            is_video = False
 
-        if unconditional_conditioning is None or unconditional_guidance_scale == 1.:
-            model_output, model_output_action, model_output_state = self.model.apply_model(
-                x,
-                x_action,
-                x_state,
-                t,
-                c,
-                run_head=run_head,
-                backbone_reuse_branch="single",
-                **kwargs)  # unet denoiser
-        else:
-            # do_classifier_free_guidance
-            if isinstance(c, torch.Tensor) or isinstance(c, dict):
-                e_t_cond, e_t_cond_action, e_t_cond_state = self.model.apply_model(
-                    x,
-                    x_action,
-                    x_state,
-                    t,
-                    c,
-                    run_head=run_head,
-                    backbone_reuse_branch="cond",
-                    **kwargs)
-                e_t_uncond, e_t_uncond_action, e_t_uncond_state = self.model.apply_model(
-                    x,
-                    x_action,
-                    x_state,
-                    t,
-                    unconditional_conditioning,
-                    run_head=run_head,
-                    backbone_reuse_branch="uncond",
-                    **kwargs)
+        use_autocast = precision == 16 and device.type == 'cuda'
+        with torch.cuda.amp.autocast(enabled=use_autocast,
+                                     dtype=torch.float16):
+            if unconditional_conditioning is None or unconditional_guidance_scale == 1.:
+                model_output, model_output_action, model_output_state = self.model.apply_model(
+                    x, x_action, x_state, t, c, **kwargs)  # unet denoiser
             else:
-                raise NotImplementedError
-            model_output = e_t_uncond + unconditional_guidance_scale * (
-                e_t_cond - e_t_uncond)
-            if run_head:
+                # do_classifier_free_guidance
+                if isinstance(c, torch.Tensor) or isinstance(c, dict):
+                    e_t_cond, e_t_cond_action, e_t_cond_state = self.model.apply_model(
+                        x, x_action, x_state, t, c, **kwargs)
+                    e_t_uncond, e_t_uncond_action, e_t_uncond_state = self.model.apply_model(
+                        x, x_action, x_state, t, unconditional_conditioning,
+                        **kwargs)
+                else:
+                    raise NotImplementedError
+                model_output = e_t_uncond + unconditional_guidance_scale * (
+                    e_t_cond - e_t_uncond)
                 model_output_action = e_t_uncond_action + unconditional_guidance_scale * (
                     e_t_cond_action - e_t_uncond_action)
                 model_output_state = e_t_uncond_state + unconditional_guidance_scale * (
                     e_t_cond_state - e_t_uncond_state)
-            else:
-                model_output_action = None
-                model_output_state = None
 
-            if guidance_rescale > 0.0:
-                model_output = rescale_noise_cfg(
-                    model_output, e_t_cond, guidance_rescale=guidance_rescale)
-                if run_head:
+                if guidance_rescale > 0.0:
+                    model_output = rescale_noise_cfg(
+                        model_output, e_t_cond, guidance_rescale=guidance_rescale)
                     model_output_action = rescale_noise_cfg(
                         model_output_action,
                         e_t_cond_action,
@@ -575,17 +404,11 @@ class DDIMSampler(object):
         sqrt_one_minus_alphas = self.model.sqrt_one_minus_alphas_cumprod if use_original_steps else self.ddim_sqrt_one_minus_alphas
         sigmas = self.ddim_sigmas_for_original_num_steps if use_original_steps else self.ddim_sigmas
 
-        if is_video:
-            size = (b, 1, 1, 1, 1)
-        else:
-            size = (b, 1, 1, 1)
-
-        a_t = torch.full(size, alphas[index], device=device)
-        a_prev = torch.full(size, alphas_prev[index], device=device)
-        sigma_t = torch.full(size, sigmas[index], device=device)
-        sqrt_one_minus_at = torch.full(size,
-                                       sqrt_one_minus_alphas[index],
-                                       device=device)
+        # Use 0-d tensors directly (already on device); broadcasting handles shape
+        a_t = alphas[index]
+        a_prev = alphas_prev[index]
+        sigma_t = sigmas[index]
+        sqrt_one_minus_at = sqrt_one_minus_alphas[index]
 
         if self.model.parameterization != "v":
             pred_x0 = (x - sqrt_one_minus_at * e_t) / a_t.sqrt()
@@ -593,12 +416,8 @@ class DDIMSampler(object):
             pred_x0 = self.model.predict_start_from_z_and_v(x, t, model_output)
 
         if self.model.use_dynamic_rescale:
-            scale_t = torch.full(size,
-                                 self.ddim_scale_arr[index],
-                                 device=device)
-            prev_scale_t = torch.full(size,
-                                      self.ddim_scale_arr_prev[index],
-                                      device=device)
+            scale_t = self.ddim_scale_arr[index]
+            prev_scale_t = self.ddim_scale_arr_prev[index]
             rescale = (prev_scale_t / scale_t)
             pred_x0 *= rescale
 

src/unifolm_wma/modules/networks/wma_model.py

@@ -1,7 +1,6 @@
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
-import time
 
 from torch import Tensor
 from functools import partial
@@ -686,6 +685,37 @@ class WMAModel(nn.Module):
         self.action_token_projector = instantiate_from_config(
             stem_process_config)
 
+        # Context precomputation cache
+        self._ctx_cache_enabled = False
+        self._ctx_cache = {}
+        self._trt_backbone = None  # TRT engine for video UNet backbone
+        # Reusable CUDA stream for parallel state_unet / action_unet
+        self._state_stream = torch.cuda.Stream()
+
+    def __getstate__(self):
+        state = self.__dict__.copy()
+        state.pop('_state_stream', None)
+        return state
+
+    def __setstate__(self, state):
+        self.__dict__.update(state)
+        if not hasattr(self, '_ctx_cache_enabled'):
+            self._ctx_cache_enabled = False
+        if not hasattr(self, '_ctx_cache'):
+            self._ctx_cache = {}
+        if not hasattr(self, '_trt_backbone'):
+            self._trt_backbone = None
+        self._state_stream = torch.cuda.Stream()
+
+    def load_trt_backbone(self, engine_path, n_hs_a=9):
+        """Load a TensorRT engine for the video UNet backbone."""
+        from unifolm_wma.trt_utils import TRTBackbone
+        device = next(self.parameters()).device
+        self._trt_backbone = TRTBackbone(engine_path,
+                                         n_hs_a=n_hs_a,
+                                         device=device)
+        print(f">>> TRT backbone loaded from {engine_path} on {device}")
+
     def forward(self,
                 x: Tensor,
                 x_action: Tensor,
@@ -714,80 +744,70 @@ class WMAModel(nn.Module):
             Tuple of Tensors for predictions:
 
         """
-
         b, _, t, _, _ = x.shape
-        run_head = kwargs.pop("run_head", True)
-        backbone_block_profiler = kwargs.pop("backbone_block_profiler", None)
-        backbone_step_index = kwargs.pop("backbone_step_index", None)
-        backbone_reuse_blocks = kwargs.pop("backbone_reuse_blocks", None)
-        backbone_reuse_start_step = kwargs.pop("backbone_reuse_start_step",
-                                               None)
-        backbone_reuse_schedule_steps = kwargs.pop(
-            "backbone_reuse_schedule_steps", None)
-        backbone_reuse_force_compute_steps = kwargs.pop(
-            "backbone_reuse_force_compute_steps", None)
-        backbone_reuse_mode = kwargs.pop("backbone_reuse_mode", "disabled")
-        backbone_reuse_cache = kwargs.pop("backbone_reuse_cache", None)
-        backbone_reuse_step_stats = kwargs.pop("backbone_reuse_step_stats",
-                                               None)
-        backbone_reuse_branch = kwargs.pop("backbone_reuse_branch", "single")
         t_emb = timestep_embedding(timesteps,
                                    self.model_channels,
                                    repeat_only=False).type(x.dtype)
         emb = self.time_embed(t_emb)
 
-        bt, l_context, _ = context.shape
-        if self.base_model_gen_only:
-            assert l_context == 77 + self.n_obs_steps * 16, ">>> ERROR Context dim 1 ..."  ## NOTE HANDCODE
+        _ctx_key = context.data_ptr()
+        if self._ctx_cache_enabled and _ctx_key in self._ctx_cache:
+            context = self._ctx_cache[_ctx_key]
         else:
-            if l_context == self.n_obs_steps + 77 + t * 16:
-                context_agent_state = context[:, :self.n_obs_steps]
-                context_text = context[:, self.n_obs_steps:self.n_obs_steps +
-                                       77, :]
-                context_img = context[:, self.n_obs_steps + 77:, :]
-                context_agent_state = context_agent_state.repeat_interleave(
-                    repeats=t, dim=0)
-                context_text = context_text.repeat_interleave(repeats=t, dim=0)
-                context_img = rearrange(context_img,
-                                        'b (t l) c -> (b t) l c',
-                                        t=t)
-                context = torch.cat(
-                    [context_agent_state, context_text, context_img], dim=1)
-            elif l_context == self.n_obs_steps + 16 + 77 + t * 16:
-                context_agent_state = context[:, :self.n_obs_steps]
-                context_agent_action = context[:, self.
-                                               n_obs_steps:self.n_obs_steps +
-                                               16, :]
-                context_agent_action = rearrange(
-                    context_agent_action.unsqueeze(2), 'b t l d -> (b t) l d')
-                context_agent_action = self.action_token_projector(
-                    context_agent_action)
-                context_agent_action = rearrange(context_agent_action,
-                                                 '(b o) l d -> b o l d',
-                                                 o=t)
-                context_agent_action = rearrange(context_agent_action,
-                                                 'b o (t l) d -> b o t l d',
-                                                 t=t)
-                context_agent_action = context_agent_action.permute(
-                    0, 2, 1, 3, 4)
-                context_agent_action = rearrange(context_agent_action,
-                                                 'b t o l d -> (b t) (o l) d')
+            bt, l_context, _ = context.shape
+            if self.base_model_gen_only:
+                assert l_context == 77 + self.n_obs_steps * 16, ">>> ERROR Context dim 1 ..."  ## NOTE HANDCODE
+            else:
+                if l_context == self.n_obs_steps + 77 + t * 16:
+                    context_agent_state = context[:, :self.n_obs_steps]
+                    context_text = context[:, self.n_obs_steps:self.n_obs_steps +
+                                           77, :]
+                    context_img = context[:, self.n_obs_steps + 77:, :]
+                    context_agent_state = context_agent_state.repeat_interleave(
+                        repeats=t, dim=0)
+                    context_text = context_text.repeat_interleave(repeats=t, dim=0)
+                    context_img = rearrange(context_img,
+                                            'b (t l) c -> (b t) l c',
+                                            t=t)
+                    context = torch.cat(
+                        [context_agent_state, context_text, context_img], dim=1)
+                elif l_context == self.n_obs_steps + 16 + 77 + t * 16:
+                    context_agent_state = context[:, :self.n_obs_steps]
+                    context_agent_action = context[:, self.
+                                                   n_obs_steps:self.n_obs_steps +
+                                                   16, :]
+                    context_agent_action = rearrange(
+                        context_agent_action.unsqueeze(2), 'b t l d -> (b t) l d')
+                    context_agent_action = self.action_token_projector(
+                        context_agent_action)
+                    context_agent_action = rearrange(context_agent_action,
+                                                     '(b o) l d -> b o l d',
+                                                     o=t)
+                    context_agent_action = rearrange(context_agent_action,
+                                                     'b o (t l) d -> b o t l d',
+                                                     t=t)
+                    context_agent_action = context_agent_action.permute(
+                        0, 2, 1, 3, 4)
+                    context_agent_action = rearrange(context_agent_action,
+                                                     'b t o l d -> (b t) (o l) d')
 
-                context_text = context[:, self.n_obs_steps +
-                                       16:self.n_obs_steps + 16 + 77, :]
-                context_text = context_text.repeat_interleave(repeats=t, dim=0)
+                    context_text = context[:, self.n_obs_steps +
+                                           16:self.n_obs_steps + 16 + 77, :]
+                    context_text = context_text.repeat_interleave(repeats=t, dim=0)
 
-                context_img = context[:, self.n_obs_steps + 16 + 77:, :]
-                context_img = rearrange(context_img,
-                                        'b (t l) c -> (b t) l c',
-                                        t=t)
-                context_agent_state = context_agent_state.repeat_interleave(
-                    repeats=t, dim=0)
-                context = torch.cat([
-                    context_agent_state, context_agent_action, context_text,
-                    context_img
-                ],
-                                    dim=1)
+                    context_img = context[:, self.n_obs_steps + 16 + 77:, :]
+                    context_img = rearrange(context_img,
+                                            'b (t l) c -> (b t) l c',
+                                            t=t)
+                    context_agent_state = context_agent_state.repeat_interleave(
+                        repeats=t, dim=0)
+                    context = torch.cat([
+                        context_agent_state, context_agent_action, context_text,
+                        context_img
+                    ],
+                                        dim=1)
+            if self._ctx_cache_enabled:
+                self._ctx_cache[_ctx_key] = context
 
         emb = emb.repeat_interleave(repeats=t, dim=0)
 
@@ -807,150 +827,95 @@ class WMAModel(nn.Module):
             fs_embed = fs_embed.repeat_interleave(repeats=t, dim=0)
             emb = emb + fs_embed
 
-        def run_block_with_profile(block_name: str, block_stage: str,
-                                   block_index: int | None,
-                                   fn: Callable[[], Tensor]) -> Tensor:
-            if backbone_block_profiler is None or backbone_step_index is None:
-                return fn()
-            if x.device.type == "cuda":
-                torch.cuda.synchronize(x.device)
-            start_time = time.perf_counter()
-            out = fn()
-            if x.device.type == "cuda":
-                torch.cuda.synchronize(x.device)
-            backbone_block_profiler.record_block(
-                step=int(backbone_step_index),
-                block_name=block_name,
-                block_stage=block_stage,
-                block_index=block_index,
-                output=out,
-                forward_time_ms=(time.perf_counter() - start_time) * 1000.0,
-            )
-            return out
-
-        reuse_cache_branch: Dict[str, Tensor] | None = None
-        if backbone_reuse_cache is not None:
-            reuse_cache_branch = backbone_reuse_cache.setdefault(
-                backbone_reuse_branch, {})
-
-        def should_reuse_output_block(block_name: str) -> bool:
-            if backbone_reuse_mode != "reuse_output":
-                return False
-            if backbone_step_index is None or backbone_reuse_start_step is None:
-                return False
-            if backbone_reuse_blocks is None or block_name not in backbone_reuse_blocks:
-                return False
-            if int(backbone_step_index) < int(backbone_reuse_start_step):
-                return False
-            if (backbone_reuse_force_compute_steps is not None
-                    and int(backbone_step_index)
-                    in backbone_reuse_force_compute_steps):
-                return False
-            if (backbone_reuse_schedule_steps is not None
-                    and int(backbone_step_index)
-                    in backbone_reuse_schedule_steps):
-                return False
-            if reuse_cache_branch is None:
-                return False
-            return block_name in reuse_cache_branch
-
-        h = x.type(self.dtype)
-        adapter_idx = 0
-        hs = []
-        hs_a = []
-        for id, module in enumerate(self.input_blocks):
-            def run_input_block() -> Tensor:
-                block_out = module(h, emb, context=context, batch_size=b)
+        if self._trt_backbone is not None:
+            # TRT path: run backbone via TensorRT engine
+            h_in = x.type(self.dtype).contiguous()
+            y, hs_a = self._trt_backbone(h_in, emb.contiguous(), context.contiguous())
+        else:
+            # PyTorch path: original backbone
+            h = x.type(self.dtype)
+            adapter_idx = 0
+            hs = []
+            hs_a = []
+            for id, module in enumerate(self.input_blocks):
+                h = module(h, emb, context=context, batch_size=b)
                 if id == 0 and self.addition_attention:
-                    block_out = self.init_attn(block_out,
-                                               emb,
-                                               context=context,
-                                               batch_size=b)
-                return block_out
+                    h = self.init_attn(h, emb, context=context, batch_size=b)
+                # plug-in adapter features
+                if ((id + 1) % 3 == 0) and features_adapter is not None:
+                    h = h + features_adapter[adapter_idx]
+                    adapter_idx += 1
+                if id != 0:
+                    if isinstance(module[0], Downsample):
+                        hs_a.append(
+                            rearrange(hs[-1], '(b t) c h w -> b t c h w', b=b))
+                hs.append(h)
+            hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', b=b))
 
-            h = run_block_with_profile(
-                block_name=f"input_{id}",
-                block_stage="input_blocks",
-                block_index=id,
-                fn=run_input_block,
-            )
-            # plug-in adapter features
-            if ((id + 1) % 3 == 0) and features_adapter is not None:
-                h = h + features_adapter[adapter_idx]
-                adapter_idx += 1
-            if id != 0:
-                if isinstance(module[0], Downsample):
+            if features_adapter is not None:
+                assert len(
+                    features_adapter) == adapter_idx, 'Wrong features_adapter'
+            h = self.middle_block(h, emb, context=context, batch_size=b)
+            hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', b=b))
+
+            hs_out = []
+            for module in self.output_blocks:
+                h = torch.cat([h, hs.pop()], dim=1)
+                h = module(h, emb, context=context, batch_size=b)
+                if isinstance(module[-1], Upsample):
                     hs_a.append(
-                        rearrange(hs[-1], '(b t) c h w -> b t c h w', t=t))
-            hs.append(h)
-        hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
+                        rearrange(hs_out[-1], '(b t) c h w -> b t c h w', b=b))
+                hs_out.append(h)
+            h = h.type(x.dtype)
+            hs_a.append(rearrange(hs_out[-1], '(b t) c h w -> b t c h w', b=b))
 
-        if features_adapter is not None:
-            assert len(
-                features_adapter) == adapter_idx, 'Wrong features_adapter'
-        h = run_block_with_profile(
-            block_name="middle",
-            block_stage="middle_block",
-            block_index=0,
-            fn=lambda: self.middle_block(h, emb, context=context, batch_size=b),
-        )
-        hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
+            y = self.out(h)
+            y = rearrange(y, '(b t) c h w -> b c t h w', b=b)
 
-        hs_out = []
-        for id, module in enumerate(self.output_blocks):
-            skip_h = hs.pop()
-            block_name = f"output_{id}"
-
-            def run_output_block() -> Tensor:
-                return module(torch.cat([h, skip_h], dim=1),
-                              emb,
-                              context=context,
-                              batch_size=b)
-
-            if should_reuse_output_block(block_name):
-                h = reuse_cache_branch[block_name].to(device=h.device,
-                                                      dtype=h.dtype)
-                if backbone_reuse_step_stats is not None:
-                    backbone_reuse_step_stats.setdefault(
-                        backbone_reuse_branch, set()).add(block_name)
-            else:
-                h = run_block_with_profile(
-                    block_name=block_name,
-                    block_stage="output_blocks",
-                    block_index=id,
-                    fn=run_output_block,
-                )
-                if (reuse_cache_branch is not None and backbone_reuse_mode ==
-                        "reuse_output"
-                        and backbone_reuse_blocks is not None
-                        and block_name in backbone_reuse_blocks):
-                    reuse_cache_branch[block_name] = h.detach().clone()
-            if isinstance(module[-1], Upsample):
-                hs_a.append(
-                    rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
-            hs_out.append(h)
-        h = h.type(x.dtype)
-        hs_a.append(rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
-
-        y = self.out(h)
-        y = rearrange(y, '(b t) c h w -> b c t h w', b=b)
-
-        if not self.base_model_gen_only and run_head:
+        if not self.base_model_gen_only:
             ba, _, _ = x_action.shape
-            a_y = self.action_unet(x_action, timesteps[:ba], hs_a,
-                                   context_action[:2], **kwargs)
-            # Predict state
-            if b > 1:
-                s_y = self.state_unet(x_state, timesteps[:ba], hs_a,
+            ts_state = timesteps[:ba] if b > 1 else timesteps
+            is_sim_mode = context_action[2] if len(context_action) > 2 else False
+
+            if is_sim_mode:
+                # WM mode: only need state_unet, skip action_unet
+                s_y = self.state_unet(x_state, ts_state, hs_a,
                                       context_action[:2], **kwargs)
+                a_y = torch.zeros_like(x_action)
             else:
-                s_y = self.state_unet(x_state, timesteps, hs_a,
-                                      context_action[:2], **kwargs)
-        elif not self.base_model_gen_only:
-            a_y = None
-            s_y = None
+                # DM mode: only need action_unet, skip state_unet
+                a_y = self.action_unet(x_action, timesteps[:ba], hs_a,
+                                       context_action[:2], **kwargs)
+                s_y = torch.zeros_like(x_state)
         else:
             a_y = torch.zeros_like(x_action)
             s_y = torch.zeros_like(x_state)
 
         return y, a_y, s_y
+
+
+def enable_ctx_cache(model):
+    """Enable context precomputation cache on WMAModel and its action/state UNets."""
+    for m in model.modules():
+        if isinstance(m, WMAModel):
+            m._ctx_cache_enabled = True
+            m._ctx_cache = {}
+    # conditional_unet1d cache
+    from unifolm_wma.models.diffusion_head.conditional_unet1d import ConditionalUnet1D
+    for m in model.modules():
+        if isinstance(m, ConditionalUnet1D):
+            m._global_cond_cache_enabled = True
+            m._global_cond_cache = {}
+
+
+def disable_ctx_cache(model):
+    """Disable and clear context precomputation cache."""
+    for m in model.modules():
+        if isinstance(m, WMAModel):
+            m._ctx_cache_enabled = False
+            m._ctx_cache = {}
+    from unifolm_wma.models.diffusion_head.conditional_unet1d import ConditionalUnet1D
+    for m in model.modules():
+        if isinstance(m, ConditionalUnet1D):
+            m._global_cond_cache_enabled = False
+            m._global_cond_cache = {}

src/unifolm_wma/trt_utils.py

@@ -0,0 +1,196 @@
+"""TensorRT acceleration utilities for the video UNet backbone."""
+
+import torch
+import torch.nn as nn
+from einops import rearrange
+from unifolm_wma.modules.networks.wma_model import Downsample, Upsample
+
+
+def _normalize_cuda_device(device) -> torch.device:
+    if device is None:
+        return torch.device('cuda', torch.cuda.current_device())
+    if isinstance(device, torch.device):
+        if device.type != 'cuda':
+            raise ValueError(f"TensorRT requires a CUDA device, got {device}.")
+        return device
+    if isinstance(device, int):
+        return torch.device('cuda', device)
+    normalized = torch.device(device)
+    if normalized.type != 'cuda':
+        raise ValueError(f"TensorRT requires a CUDA device, got {normalized}.")
+    return normalized
+
+
+class VideoBackboneForExport(nn.Module):
+    """Wrapper that isolates the video UNet backbone for ONNX export.
+
+    Takes already-preprocessed inputs (after context/time embedding prep)
+    and returns y + hs_a as a flat tuple.
+    """
+
+    def __init__(self, wma_model):
+        super().__init__()
+        self.input_blocks = wma_model.input_blocks
+        self.middle_block = wma_model.middle_block
+        self.output_blocks = wma_model.output_blocks
+        self.out = wma_model.out
+        self.addition_attention = wma_model.addition_attention
+        if self.addition_attention:
+            self.init_attn = wma_model.init_attn
+        self.dtype = wma_model.dtype
+
+    def forward(self, h, emb, context):
+        t = 16
+        b = 1
+
+        hs = []
+        hs_a = []
+        h = h.type(self.dtype)
+        for id, module in enumerate(self.input_blocks):
+            h = module(h, emb, context=context, batch_size=b)
+            if id == 0 and self.addition_attention:
+                h = self.init_attn(h, emb, context=context, batch_size=b)
+            if id != 0:
+                if isinstance(module[0], Downsample):
+                    hs_a.append(rearrange(hs[-1], '(b t) c h w -> b t c h w', t=t))
+            hs.append(h)
+        hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
+
+        h = self.middle_block(h, emb, context=context, batch_size=b)
+        hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
+
+        hs_out = []
+        for module in self.output_blocks:
+            h = torch.cat([h, hs.pop()], dim=1)
+            h = module(h, emb, context=context, batch_size=b)
+            if isinstance(module[-1], Upsample):
+                hs_a.append(rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
+            hs_out.append(h)
+        hs_a.append(rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
+
+        y = self.out(h.type(h.dtype))
+        y = rearrange(y, '(b t) c h w -> b c t h w', b=b)
+        return (y, *hs_a)
+
+
+def export_backbone_onnx(model, save_path, context_len=95):
+    wma = model.model.diffusion_model
+    wrapper = VideoBackboneForExport(wma)
+    device = next(wma.parameters()).device
+    wrapper.eval().to(device)
+
+    for m in wrapper.modules():
+        if hasattr(m, 'checkpoint'):
+            m.checkpoint = False
+        if hasattr(m, 'use_checkpoint'):
+            m.use_checkpoint = False
+
+    import xformers.ops
+    _orig_mea = xformers.ops.memory_efficient_attention
+    def _sdpa_replacement(q, k, v, attn_bias=None, op=None, **kw):
+        return torch.nn.functional.scaled_dot_product_attention(q, k, v, attn_mask=attn_bias)
+    xformers.ops.memory_efficient_attention = _sdpa_replacement
+
+    BT = 16
+    emb_dim = wma.model_channels * 4
+    ctx_dim = 1024
+    in_ch = wma.in_channels
+
+    dummy_h = torch.randn(BT,
+                          in_ch,
+                          40,
+                          64,
+                          device=device,
+                          dtype=torch.float32)
+    dummy_emb = torch.randn(BT,
+                            emb_dim,
+                            device=device,
+                            dtype=torch.float32)
+    dummy_ctx = torch.randn(BT,
+                            context_len,
+                            ctx_dim,
+                            device=device,
+                            dtype=torch.float32)
+
+    with torch.no_grad():
+        outputs = wrapper(dummy_h, dummy_emb, dummy_ctx)
+        n_outputs = len(outputs)
+        print(f">>> Backbone has {n_outputs} outputs (1 y + {n_outputs-1} hs_a)")
+        for i, o in enumerate(outputs):
+            print(f"    output[{i}]: {o.shape} {o.dtype}")
+
+    output_names = ['y'] + [f'hs_a_{i}' for i in range(n_outputs - 1)]
+
+    torch.onnx.export(
+        wrapper,
+        (dummy_h, dummy_emb, dummy_ctx),
+        save_path,
+        input_names=['h', 'emb', 'context'],
+        output_names=output_names,
+        opset_version=17,
+        do_constant_folding=True,
+    )
+    print(f">>> ONNX exported to {save_path}")
+    xformers.ops.memory_efficient_attention = _orig_mea
+    return n_outputs
+
+
+class TRTBackbone:
+    """TensorRT runtime wrapper for the video UNet backbone."""
+
+    def __init__(self, engine_path, n_hs_a=9, device=None):
+        import tensorrt as trt
+
+        self.device = _normalize_cuda_device(device)
+        self.logger = trt.Logger(trt.Logger.WARNING)
+        with torch.cuda.device(self.device):
+            with open(engine_path, 'rb') as f:
+                runtime = trt.Runtime(self.logger)
+                self.engine = runtime.deserialize_cuda_engine(f.read())
+            self.context = self.engine.create_execution_context()
+        self.n_hs_a = n_hs_a
+
+        import numpy as np
+        self.output_buffers = {}
+        with torch.cuda.device(self.device):
+            for i in range(self.engine.num_io_tensors):
+                name = self.engine.get_tensor_name(i)
+                if self.engine.get_tensor_mode(name) == trt.TensorIOMode.OUTPUT:
+                    shape = self.engine.get_tensor_shape(name)
+                    np_dtype = trt.nptype(self.engine.get_tensor_dtype(name))
+                    buf = torch.empty(
+                        list(shape),
+                        dtype=torch.from_numpy(np.empty(0, dtype=np_dtype)).dtype,
+                        device=self.device)
+                    self.output_buffers[name] = buf
+                    print(
+                        f"    TRT output '{name}': {list(shape)} {buf.dtype} on {self.device}"
+                    )
+
+    def __call__(self, h, emb, context):
+        import numpy as np
+        import tensorrt as trt
+
+        bound_inputs = {}
+        with torch.cuda.device(self.device):
+            for name, tensor in [('h', h), ('emb', emb), ('context', context)]:
+                expected_dtype = trt.nptype(self.engine.get_tensor_dtype(name))
+                torch_expected = torch.from_numpy(
+                    np.empty(0, dtype=expected_dtype)).dtype
+                if tensor.device != self.device or tensor.dtype != torch_expected:
+                    tensor = tensor.to(device=self.device,
+                                       dtype=torch_expected,
+                                       non_blocking=True)
+                tensor = tensor.contiguous()
+                bound_inputs[name] = tensor
+                self.context.set_tensor_address(name, tensor.data_ptr())
+
+            for name, buf in self.output_buffers.items():
+                self.context.set_tensor_address(name, buf.data_ptr())
+
+            stream = torch.cuda.current_stream(device=self.device)
+            self.context.execute_async_v3(stream.cuda_stream)
+
+        y = self.output_buffers['y']
+        hs_a = [self.output_buffers[f'hs_a_{i}'] for i in range(self.n_hs_a)]
+        return y, hs_a

unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case2"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0,1 python3 scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output/sparse_8" \
+        --savedir "${res_dir}/output" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -21,9 +21,7 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --timestep_spacing 'uniform_trailing' \
         --guidance_rescale 0.7 \
         --perframe_ae \
-        --analysis_log_metrics \
-        --analysis_reference_steps 50 \
-        --head_schedule_steps 0 7 14 21 28 35 42 49 \
-        --head_skip_mode reuse_prediction \
-        --head_log_steps 40 43 46 47 48 49
+        --pipeline_split_step 30 \
+        --pipeline_multi_gpu \
+        --pipeline_gpu_ids 0 1
 } 2>&1 | tee "${res_dir}/output.log"