2329 lines
128 KiB
Plaintext
2329 lines
128 KiB
Plaintext
2026-02-11 13:57:30.192579: 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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2026-02-11 13:57:30.242090: 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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2026-02-11 13:57:30.242134: 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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2026-02-11 13:57:30.243443: 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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2026-02-11 13:57:30.250963: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
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2026-02-11 13:57:31.177911: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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Global seed set to 123
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>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Prepared model loaded.
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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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✓ KV fused: 66 attention layers
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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%| | 0/11 [00:00<?, ?it/s]
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9%|▉ | 1/11 [00:33<05:33, 33.38s/it]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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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 GbrImagePlugin
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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 IcnsImagePlugin
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
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DEBUG:PIL.Image:Importing ImtImagePlugin
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DEBUG:PIL.Image:Importing IptcImagePlugin
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DEBUG:PIL.Image:Importing JpegImagePlugin
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DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
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DEBUG:PIL.Image:Importing McIdasImagePlugin
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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 PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PixarImagePlugin
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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 PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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DEBUG:PIL.Image:Importing SgiImagePlugin
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DEBUG:PIL.Image:Importing SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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DEBUG:PIL.Image:Importing TgaImagePlugin
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DEBUG:PIL.Image:Importing TiffImagePlugin
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DEBUG:PIL.Image:Importing WebPImagePlugin
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DEBUG:PIL.Image:Importing WmfImagePlugin
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DEBUG:PIL.Image:Importing XbmImagePlugin
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DEBUG:PIL.Image:Importing XpmImagePlugin
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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18%|█▊ | 2/11 [01:07<05:02, 33.64s/it]
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27%|██▋ | 3/11 [01:41<04:31, 33.90s/it]
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64%|██████▎ | 7/11 [03:58<02:16, 34.10s/it]
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73%|███████▎ | 8/11 [04:32<01:42, 34.12s/it]
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91%|█████████ | 10/11 [05:40<00:34, 34.11s/it]
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100%|██████████| 11/11 [06:14<00:00, 34.10s/it]
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100%|██████████| 11/11 [06:14<00:00, 34.04s/it]
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>>> Step 1: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 3: generating actions ...
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>>> Step 3: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 4: generating actions ...
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>>> Step 4: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 5: generating actions ...
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>>> Step 5: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 8: generating actions ...
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>>> Step 8: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 9: generating actions ...
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>>> Step 9: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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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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real 6m48.347s
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user 6m11.434s
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sys 1m25.305s
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2026-02-11 14:04:18.542839: 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 14:04:18.593447: 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 14:04:18.593492: 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 14:04:18.594810: 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 14:04:18.602331: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:04:19.529518: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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%| | 0/11 [00:00<?, ?it/s]
|
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9%|▉ | 1/11 [00:34<05:41, 34.14s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
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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 PsdImagePlugin
|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
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DEBUG:PIL.Image:Importing SunImagePlugin
|
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
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DEBUG:PIL.Image:Importing TiffImagePlugin
|
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DEBUG:PIL.Image:Importing WebPImagePlugin
|
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DEBUG:PIL.Image:Importing WmfImagePlugin
|
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DEBUG:PIL.Image:Importing XbmImagePlugin
|
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DEBUG:PIL.Image:Importing XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
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18%|█▊ | 2/11 [01:08<05:08, 34.26s/it]
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27%|██▋ | 3/11 [01:42<04:33, 34.23s/it]
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36%|███▋ | 4/11 [02:16<03:59, 34.23s/it]
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55%|█████▍ | 6/11 [03:25<02:50, 34.18s/it]
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64%|██████▎ | 7/11 [03:59<02:16, 34.18s/it]
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73%|███████▎ | 8/11 [04:33<01:42, 34.16s/it]
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82%|████████▏ | 9/11 [05:07<01:08, 34.15s/it]
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91%|█████████ | 10/11 [05:41<00:34, 34.16s/it]
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100%|██████████| 11/11 [06:15<00:00, 34.13s/it]
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100%|██████████| 11/11 [06:15<00:00, 34.17s/it]
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 8: generating actions ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 6m49.847s
|
|
user 6m14.600s
|
|
sys 1m23.898s
|
|
2026-02-11 14:11:08.388455: 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 14:11:08.437992: 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 14:11:08.438037: 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 14:11:08.439358: 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 14:11:08.446903: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:11:09.369764: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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%| | 0/11 [00:00<?, ?it/s]
|
|
9%|▉ | 1/11 [00:34<05:40, 34.10s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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'
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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 PngImagePlugin
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DEBUG:PIL.Image:Importing PpmImagePlugin
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DEBUG:PIL.Image:Importing PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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DEBUG:PIL.Image:Importing SgiImagePlugin
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DEBUG:PIL.Image:Importing SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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DEBUG:PIL.Image:Importing TgaImagePlugin
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DEBUG:PIL.Image:Importing TiffImagePlugin
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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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|
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>>> Step 6: generating actions ...
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>>> Step 6: interacting with world model ...
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|
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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 ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 6m48.681s
|
|
user 6m14.841s
|
|
sys 1m21.562s
|
|
2026-02-11 14:17:57.092085: 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 14:17:57.141607: 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 14:17:57.141661: 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 14:17:57.142984: 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 14:17:57.150517: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:17:58.074812: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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
|
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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9%|▉ | 1/11 [00:34<05:41, 34.20s/it]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
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DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
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DEBUG:PIL.Image:Importing CurImagePlugin
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DEBUG:PIL.Image:Importing FitsImagePlugin
|
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|
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DEBUG:PIL.Image:Importing FliImagePlugin
|
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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
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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 IcnsImagePlugin
|
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
|
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DEBUG:PIL.Image:Importing ImtImagePlugin
|
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DEBUG:PIL.Image:Importing IptcImagePlugin
|
|
DEBUG:PIL.Image:Importing JpegImagePlugin
|
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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
|
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DEBUG:PIL.Image:Importing PalmImagePlugin
|
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DEBUG:PIL.Image:Importing PcdImagePlugin
|
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
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DEBUG:PIL.Image:Importing PdfImagePlugin
|
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DEBUG:PIL.Image:Importing PixarImagePlugin
|
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DEBUG:PIL.Image:Importing PngImagePlugin
|
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DEBUG:PIL.Image:Importing PpmImagePlugin
|
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
|
DEBUG:PIL.Image:Importing SgiImagePlugin
|
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DEBUG:PIL.Image:Importing SpiderImagePlugin
|
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DEBUG:PIL.Image:Importing SunImagePlugin
|
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
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DEBUG:PIL.Image:Importing TiffImagePlugin
|
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DEBUG:PIL.Image:Importing WebPImagePlugin
|
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DEBUG:PIL.Image:Importing WmfImagePlugin
|
|
DEBUG:PIL.Image:Importing XbmImagePlugin
|
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DEBUG:PIL.Image:Importing XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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|
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|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 8: generating actions ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 6m49.501s
|
|
user 6m16.155s
|
|
sys 1m21.678s
|
|
2026-02-11 14:24:46.595601: 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 14:24:46.645554: 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 14:24:46.645598: 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 14:24:46.646935: 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 14:24:46.654595: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:24:47.580547: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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<?, ?it/s]
|
|
12%|█▎ | 1/8 [00:34<03:58, 34.12s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
|
|
|
25%|██▌ | 2/8 [01:08<03:24, 34.15s/it]
|
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|
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|
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|
|
100%|██████████| 8/8 [04:32<00:00, 34.09s/it]
|
|
>>> 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 5m5.299s
|
|
user 4m45.465s
|
|
sys 1m2.997s
|
|
2026-02-11 14:29:51.911195: 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 14:29:51.961101: 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 14:29:51.961156: 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 14:29:51.962467: 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 14:29:51.969980: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:29:52.899745: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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.
|
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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.
|
|
>>> 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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> Generate 16 frames under each generation ...
|
|
DEBUG:h5py._conv:Creating converter from 3 to 5
|
|
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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12%|█▎ | 1/8 [00:34<03:59, 34.22s/it]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
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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 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 GbrImagePlugin
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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 IcnsImagePlugin
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
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DEBUG:PIL.Image:Importing IptcImagePlugin
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DEBUG:PIL.Image:Importing JpegImagePlugin
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DEBUG:PIL.Image:Importing Jpeg2KImagePlugin
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DEBUG:PIL.Image:Importing McIdasImagePlugin
|
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DEBUG:PIL.Image:Importing MicImagePlugin
|
|
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 PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PixarImagePlugin
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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 PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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DEBUG:PIL.Image:Importing SgiImagePlugin
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DEBUG:PIL.Image:Importing SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
|
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DEBUG:PIL.Image:Importing TgaImagePlugin
|
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DEBUG:PIL.Image:Importing TiffImagePlugin
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DEBUG:PIL.Image:Importing WebPImagePlugin
|
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DEBUG:PIL.Image:Importing WmfImagePlugin
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DEBUG:PIL.Image:Importing XbmImagePlugin
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DEBUG:PIL.Image:Importing XpmImagePlugin
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25%|██▌ | 2/8 [01:08<03:25, 34.24s/it]
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>>> 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 5m6.112s
|
|
user 4m42.584s
|
|
sys 1m6.728s
|
|
2026-02-11 14:34:58.016000: 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 14:34:58.066369: 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 14:34:58.066418: 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 14:34:58.067763: 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 14:34:58.075447: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:34:59.008184: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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
|
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|
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0%| | 0/8 [00:00<?, ?it/s]
|
|
12%|█▎ | 1/8 [00:34<03:58, 34.14s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
|
|
|
25%|██▌ | 2/8 [01:08<03:25, 34.21s/it]
|
|
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|
|
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|
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|
|
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|
|
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|
|
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|
|
100%|██████████| 8/8 [04:32<00:00, 34.11s/it]
|
|
>>> 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 5m6.884s
|
|
user 4m45.707s
|
|
sys 1m4.570s
|
|
2026-02-11 14:40:06.781951: 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 14:40:06.832600: 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 14:40:06.832649: 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 14:40:06.833982: 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 14:40:06.841504: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:40:07.772162: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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<?, ?it/s]
|
|
12%|█▎ | 1/8 [00:34<03:59, 34.18s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
|
|
|
25%|██▌ | 2/8 [01:08<03:25, 34.26s/it]
|
|
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|
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|
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|
|
100%|██████████| 8/8 [04:33<00:00, 34.15s/it]
|
|
>>> 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 5m9.921s
|
|
user 4m51.124s
|
|
sys 1m0.381s
|
|
2026-02-11 14:45:16.672502: 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 14:45:16.722666: 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 14:45:16.722716: 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 14:45:16.724025: 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 14:45:16.731562: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:45:17.646917: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> Generate 16 frames under each generation ...
|
|
DEBUG:h5py._conv:Creating converter from 3 to 5
|
|
DEBUG:PIL.PngImagePlugin:STREAM b'IHDR' 16 13
|
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DEBUG:PIL.PngImagePlugin:STREAM b'pHYs' 41 9
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14%|█▍ | 1/7 [00:34<03:24, 34.09s/it]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
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DEBUG:PIL.Image:Importing BmpImagePlugin
|
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DEBUG:PIL.Image:Importing FliImagePlugin
|
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DEBUG:PIL.Image:Importing FpxImagePlugin
|
|
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 GbrImagePlugin
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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 IcnsImagePlugin
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DEBUG:PIL.Image:Importing IcoImagePlugin
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DEBUG:PIL.Image:Importing ImImagePlugin
|
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DEBUG:PIL.Image:Importing ImtImagePlugin
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DEBUG:PIL.Image:Importing IptcImagePlugin
|
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DEBUG:PIL.Image:Importing JpegImagePlugin
|
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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
|
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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 PcdImagePlugin
|
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DEBUG:PIL.Image:Importing PcxImagePlugin
|
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|
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DEBUG:PIL.Image:Importing PixarImagePlugin
|
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|
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DEBUG:PIL.Image:Importing QoiImagePlugin
|
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DEBUG:PIL.Image:Importing SgiImagePlugin
|
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DEBUG:PIL.Image:Importing SpiderImagePlugin
|
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DEBUG:PIL.Image:Importing SunImagePlugin
|
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DEBUG:PIL.Image:Importing TgaImagePlugin
|
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DEBUG:PIL.Image:Importing TiffImagePlugin
|
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DEBUG:PIL.Image:Importing WebPImagePlugin
|
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DEBUG:PIL.Image:Importing WmfImagePlugin
|
|
DEBUG:PIL.Image:Importing XbmImagePlugin
|
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DEBUG:PIL.Image:Importing XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
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29%|██▊ | 2/7 [01:08<02:50, 34.15s/it]
|
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43%|████▎ | 3/7 [01:42<02:16, 34.13s/it]
|
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100%|██████████| 7/7 [03:58<00:00, 34.09s/it]
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m38.201s
|
|
user 4m24.927s
|
|
sys 0m56.965s
|
|
2026-02-11 14:49:54.901507: 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 14:49:54.951975: 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 14:49:54.952023: 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 14:49:54.953338: 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 14:49:54.960938: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:49:55.888131: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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%| | 0/7 [00:00<?, ?it/s]
|
|
14%|█▍ | 1/7 [00:34<03:25, 34.18s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
|
|
|
29%|██▊ | 2/7 [01:08<02:51, 34.26s/it]
|
|
43%|████▎ | 3/7 [01:42<02:16, 34.25s/it]
|
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|
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|
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|
|
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|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m38.161s
|
|
user 4m26.060s
|
|
sys 0m55.500s
|
|
2026-02-11 14:54:33.079012: 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 14:54:33.128851: 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 14:54:33.128900: 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 14:54:33.130229: 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 14:54:33.137786: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:54:34.065218: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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%| | 0/7 [00:00<?, ?it/s]
|
|
14%|█▍ | 1/7 [00:34<03:25, 34.18s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
|
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29%|██▊ | 2/7 [01:08<02:51, 34.24s/it]
|
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>>> Step 1: interacting with world model ...
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|
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>>> Step 2: generating actions ...
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>>> Step 2: interacting with world model ...
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|
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|
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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 ...
|
|
>>> Step 5: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 6: generating actions ...
|
|
>>> Step 6: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m38.699s
|
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user 4m22.748s
|
|
sys 0m59.172s
|
|
2026-02-11 14:59:11.849320: 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 14:59:11.899274: 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 14:59:11.899322: 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 14:59:11.900640: 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 14:59:11.908158: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 14:59:12.830387: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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
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|
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14%|█▍ | 1/7 [00:34<03:24, 34.11s/it]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
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DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
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DEBUG:PIL.Image:Importing CurImagePlugin
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|
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|
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|
|
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
|
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DEBUG:PIL.Image:Importing GribStubImagePlugin
|
|
DEBUG:PIL.Image:Importing Hdf5StubImagePlugin
|
|
DEBUG:PIL.Image:Importing IcnsImagePlugin
|
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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
|
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DEBUG:PIL.Image:Importing PalmImagePlugin
|
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DEBUG:PIL.Image:Importing PcdImagePlugin
|
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DEBUG:PIL.Image:Importing PcxImagePlugin
|
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DEBUG:PIL.Image:Importing PdfImagePlugin
|
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DEBUG:PIL.Image:Importing PixarImagePlugin
|
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DEBUG:PIL.Image:Importing PngImagePlugin
|
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DEBUG:PIL.Image:Importing PsdImagePlugin
|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
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DEBUG:PIL.Image:Importing SgiImagePlugin
|
|
DEBUG:PIL.Image:Importing SpiderImagePlugin
|
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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
|
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DEBUG:PIL.Image:Importing XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
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29%|██▊ | 2/7 [01:08<02:50, 34.17s/it]
|
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|
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|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 4m37.807s
|
|
user 4m20.430s
|
|
sys 1m0.548s
|
|
2026-02-11 15:03:49.644187: 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 15:03:49.694117: 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 15:03:49.694162: 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 15:03:49.695456: 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 15:03:49.702946: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 15:03:50.638334: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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%| | 0/11 [00:00<?, ?it/s]
|
|
9%|▉ | 1/11 [00:34<05:41, 34.19s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
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DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
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18%|█▊ | 2/11 [01:08<05:08, 34.26s/it]
|
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|
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|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 8: generating actions ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 6m56.031s
|
|
user 6m22.485s
|
|
sys 1m23.599s
|
|
2026-02-11 15:10:45.687888: 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 15:10:45.738006: 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 15:10:45.738054: 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 15:10:45.739410: 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 15:10:45.747229: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 15:10:46.687896: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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%| | 0/11 [00:00<?, ?it/s]
|
|
9%|▉ | 1/11 [00:34<05:41, 34.16s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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'
|
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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 PcdImagePlugin
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DEBUG:PIL.Image:Importing PcxImagePlugin
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DEBUG:PIL.Image:Importing PdfImagePlugin
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DEBUG:PIL.Image:Importing PixarImagePlugin
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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 PsdImagePlugin
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DEBUG:PIL.Image:Importing QoiImagePlugin
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DEBUG:PIL.Image:Importing SgiImagePlugin
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DEBUG:PIL.Image:Importing SpiderImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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DEBUG:PIL.Image:Importing TgaImagePlugin
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DEBUG:PIL.Image:Importing TiffImagePlugin
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DEBUG:PIL.Image:Importing WebPImagePlugin
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DEBUG:PIL.Image:Importing WmfImagePlugin
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DEBUG:PIL.Image:Importing XbmImagePlugin
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>>> Step 1: interacting with world model ...
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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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|
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>>> Step 7: generating actions ...
|
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>>> Step 7: interacting with world model ...
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|
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|
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>>> Step 8: generating actions ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 6m56.021s
|
|
user 6m14.948s
|
|
sys 1m31.364s
|
|
2026-02-11 15:17:41.661323: 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 15:17:41.711317: 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 15:17:41.711373: 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 15:17:41.712706: 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 15:17:41.720248: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 15:17:42.650151: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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
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DEBUG:PIL.PngImagePlugin:STREAM b'IDAT' 62 4096
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9%|▉ | 1/11 [00:34<05:41, 34.15s/it]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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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|
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DEBUG:PIL.Image:Importing FliImagePlugin
|
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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
|
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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 IcnsImagePlugin
|
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|
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DEBUG:PIL.Image:Importing ImtImagePlugin
|
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|
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DEBUG:PIL.Image:Importing JpegImagePlugin
|
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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
|
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DEBUG:PIL.Image:Importing PalmImagePlugin
|
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DEBUG:PIL.Image:Importing PcdImagePlugin
|
|
DEBUG:PIL.Image:Importing PcxImagePlugin
|
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DEBUG:PIL.Image:Importing PdfImagePlugin
|
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DEBUG:PIL.Image:Importing PixarImagePlugin
|
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DEBUG:PIL.Image:Importing PngImagePlugin
|
|
DEBUG:PIL.Image:Importing PpmImagePlugin
|
|
DEBUG:PIL.Image:Importing PsdImagePlugin
|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
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DEBUG:PIL.Image:Importing SgiImagePlugin
|
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DEBUG:PIL.Image:Importing SpiderImagePlugin
|
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DEBUG:PIL.Image:Importing SunImagePlugin
|
|
DEBUG:PIL.Image:Importing TgaImagePlugin
|
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DEBUG:PIL.Image:Importing TiffImagePlugin
|
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DEBUG:PIL.Image:Importing WebPImagePlugin
|
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DEBUG:PIL.Image:Importing WmfImagePlugin
|
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DEBUG:PIL.Image:Importing XbmImagePlugin
|
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DEBUG:PIL.Image:Importing XpmImagePlugin
|
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DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
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|
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|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 8: generating actions ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 6m56.873s
|
|
user 6m16.064s
|
|
sys 1m30.735s
|
|
2026-02-11 15:24:38.487806: 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 15:24:38.538144: 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 15:24:38.538200: 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 15:24:38.539554: 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 15:24:38.547185: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 15:24:39.470885: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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%| | 0/11 [00:00<?, ?it/s]
|
|
9%|▉ | 1/11 [00:34<05:41, 34.18s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
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DEBUG:PIL.Image:Importing XpmImagePlugin
|
|
DEBUG:PIL.Image:Importing XVThumbImagePlugin
|
|
|
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|
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|
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|
|
100%|██████████| 11/11 [06:15<00:00, 34.15s/it]
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 8: generating actions ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 6m57.114s
|
|
user 6m21.626s
|
|
sys 1m25.160s
|
|
2026-02-11 15:31:35.657972: 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 15:31:35.707733: 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 15:31:35.707792: 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 15:31:35.709109: 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 15:31:35.716616: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 15:31:36.648540: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
INFO:root:***** Configing Data *****
|
|
>>> unitree_z1_stackbox: 1 data samples loaded.
|
|
>>> 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.
|
|
>>> 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.
|
|
>>> unitree_g1_pack_camera: 1 data samples loaded.
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|
>>> unitree_g1_pack_camera: data stats loaded.
|
|
>>> unitree_g1_pack_camera: normalizer initiated.
|
|
>>> Dataset is successfully loaded ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> Generate 16 frames under each generation ...
|
|
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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8%|▊ | 1/12 [00:34<06:15, 34.17s/it]>>> Step 0: generating actions ...
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>>> Step 0: interacting with world model ...
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>>>>>>>>>>>>>>>>>>>>>>>>
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>>> Step 1: generating actions ...
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DEBUG:PIL.Image:Importing BlpImagePlugin
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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 McIdasImagePlugin
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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 PcdImagePlugin
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DEBUG:PIL.Image:Importing SunImagePlugin
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DEBUG:PIL.Image:Importing TgaImagePlugin
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|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 8: generating actions ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 11: generating actions ...
|
|
>>> Step 11: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 7m25.752s
|
|
user 6m39.497s
|
|
sys 1m32.896s
|
|
2026-02-11 15:39:01.409308: 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 15:39:01.459136: 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 15:39:01.459190: 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 15:39:01.460507: 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 15:39:01.468019: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 15:39:02.395912: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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
|
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|
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0%| | 0/12 [00:00<?, ?it/s]
|
|
8%|▊ | 1/12 [00:34<06:15, 34.10s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
DEBUG:PIL.Image:Importing BlpImagePlugin
|
|
DEBUG:PIL.Image:Importing BmpImagePlugin
|
|
DEBUG:PIL.Image:Importing BufrStubImagePlugin
|
|
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
|
|
DEBUG:PIL.Image:Importing FitsImagePlugin
|
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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
|
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DEBUG:PIL.Image:Importing GribStubImagePlugin
|
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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
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
100%|██████████| 12/12 [06:48<00:00, 34.05s/it]
|
|
>>> 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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 8: generating actions ...
|
|
>>> Step 8: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 9: generating actions ...
|
|
>>> Step 9: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 10: generating actions ...
|
|
>>> Step 10: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 11: generating actions ...
|
|
>>> Step 11: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 7m25.895s
|
|
user 6m43.188s
|
|
sys 1m30.039s
|
|
2026-02-11 15:46:27.304090: 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 15:46:27.354074: 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 15:46:27.354120: 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 15:46:27.355468: 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 15:46:27.363130: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
|
|
2026-02-11 15:46:28.290783: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
|
|
Global seed set to 123
|
|
>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
|
|
>>> Prepared model loaded.
|
|
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 ...
|
|
✓ KV fused: 66 attention layers
|
|
>>> 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%| | 0/12 [00:00<?, ?it/s]
|
|
8%|▊ | 1/12 [00:34<06:15, 34.15s/it]>>> Step 0: generating actions ...
|
|
>>> Step 0: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 1: generating actions ...
|
|
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
|
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DEBUG:PIL.Image:Importing PpmImagePlugin
|
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DEBUG:PIL.Image:Importing PsdImagePlugin
|
|
DEBUG:PIL.Image:Importing QoiImagePlugin
|
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DEBUG:PIL.Image:Importing SgiImagePlugin
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>>> Step 1: interacting with world model ...
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>>> Step 11: interacting with world model ...
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real 7m25.192s
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user 6m39.503s
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sys 1m31.823s
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2026-02-11 15:53:52.504337: 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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2026-02-11 15:53:52.554351: 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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2026-02-11 15:53:52.554397: 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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2026-02-11 15:53:52.555718: 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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2026-02-11 15:53:52.563252: 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 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
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2026-02-11 15:53:53.493343: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
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Global seed set to 123
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>>> Loading prepared model from ckpts/unifolm_wma_dual.ckpt.prepared.pt ...
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>>> Prepared model loaded.
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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 ...
|
|
✓ KV fused: 66 attention layers
|
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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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8%|▊ | 1/12 [00:34<06:15, 34.14s/it]>>> Step 0: generating actions ...
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>>> Step 1: generating actions ...
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DEBUG:PIL.Image:Importing BlpImagePlugin
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DEBUG:PIL.Image:Image: failed to import FpxImagePlugin: No module named 'olefile'
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DEBUG:PIL.Image:Image: failed to import MicImagePlugin: No module named 'olefile'
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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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|
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|
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>>> Step 7: generating actions ...
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>>> Step 7: interacting with world model ...
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|
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|
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>>> Step 8: generating actions ...
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>>> Step 8: interacting with world model ...
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|
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|
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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 ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
>>> Step 11: generating actions ...
|
|
>>> Step 11: interacting with world model ...
|
|
>>>>>>>>>>>>>>>>>>>>>>>>
|
|
|
|
real 7m25.114s
|
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user 6m35.463s
|
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sys 1m35.788s
|