/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 06:42:14.444321: 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 06:42:14.447338: 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 06:42:14.478442: 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 06:42:14.478474: 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 06:42:14.480279: 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 06:42:14.488343: 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 06:42:14.488598: 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 06:42:15.109100: 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) INFO:mainlogger:LatentVisualDiffusion: Running in v-prediction mode INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08 INFO:unifolm_wma.models.diffusion_head.conditional_unet1d:number of parameters: 5.010531e+08 AE working on z of shape (1, 4, 32, 32) = 4096 dimensions. INFO:root:Loaded ViT-H-14 model config. DEBUG:urllib3.connectionpool:Starting new HTTPS connection (1): hf-mirror.com:443 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 INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k). /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. checkpoint = torch.load(checkpoint_path, map_location=map_location) INFO:root:Loaded ViT-H-14 model config. 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 INFO:root:Loading pretrained ViT-H-14 weights (laion2b_s32b_b79k). /mnt/ASC1637/unifolm-world-model-action/scripts/evaluation/world_model_interaction.py:199: 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. state_dict = torch.load(ckpt, map_location="cpu") >>> model checkpoint loaded. >>> Load pre-trained model ... >>> Applying precision settings: - Diffusion dtype: bf16 - Projector mode: bf16_full - Encoder mode: bf16_full - VAE dtype: bf16 ✓ Diffusion model weights converted to bfloat16 ✓ Projectors converted to bfloat16 ✓ Encoders converted to bfloat16 ✓ VAE converted to bfloat16 ⚠ Found 601 fp32 params, converting to bf16 ✓ All parameters converted to bfloat16 ✓ torch.compile: 3 ResBlocks in output_blocks[5, 8, 9] 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 ... >>> 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>> Step 0: generating actions ... >>> Step 0: 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 12%|█▎ | 1/8 [01:08<07:56, 68.03s/it] 25%|██▌ | 2/8 [02:12<06:35, 65.91s/it] 38%|███▊ | 3/8 [03:16<05:26, 65.22s/it] 50%|█████ | 4/8 [04:21<04:19, 64.86s/it] 62%|██████▎ | 5/8 [05:25<03:13, 64.67s/it] 75%|███████▌ | 6/8 [06:29<02:09, 64.55s/it] 88%|████████▊ | 7/8 [07:34<01:04, 64.44s/it] 100%|██████████| 8/8 [08:38<00:00, 64.44s/it] 100%|██████████| 8/8 [08:38<00:00, 64.81s/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 9m42.052s user 8m0.668s sys 1m2.045s