Skip to content

Instantly share code, notes, and snippets.

@radekosmulski

radekosmulski/Diffusion_Policy.ipynb

Created June 1, 2024 02:32
Show Gist options
  • Save radekosmulski/8ac6d2027d3b438d916748753051f044 to your computer and use it in GitHub Desktop.
Save radekosmulski/8ac6d2027d3b438d916748753051f044 to your computer and use it in GitHub Desktop.
Download ZIP
Display the source blob
Display the rendered blob
Raw
Diffusion_Policy.ipynb
{
"cells": [
{
"cell_type": "markdown",
"id": "0735059c",
"metadata": {},
"source": [
"This notebook will not attempt anything creative. The sole purpose of this notebook is to\n",
"* deconstruct how `train.py` from `lerobot` works and implement the training in a notebook\n",
" * great for learning\n",
" * it also makes it easier to figure out how to modify various aspects of the training procedure\n",
"* implement tracking with `aim`"
]
},
{
"cell_type": "code",
"execution_count": 1,
"id": "66cd6760-b104-4dae-950e-27164cb4210c",
"metadata": {},
"outputs": [],
"source": [
"import os\n",
"\n",
"dry_run = False\n",
"os.environ['CUDA_VISIBLE_DEVICES'] = '0'"
]
},
{
"cell_type": "code",
"execution_count": 2,
"id": "2fbf16b0-cee7-4774-843f-320effdfef68",
"metadata": {},
"outputs": [],
"source": [
"import sys\n",
"from pdb import set_trace\n",
"from contextlib import nullcontext\n",
"\n",
"from lerobot.common.datasets.lerobot_dataset import LeRobotDataset\n",
"from lerobot.common.datasets.sampler import EpisodeAwareSampler\n",
"from lerobot.common.datasets.factory import make_dataset\n",
"from lerobot.common.policies.factory import make_policy\n",
"from lerobot.common.datasets.utils import cycle\n",
"\n",
"from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig\n",
"from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy\n",
"\n",
"from tqdm.notebook import trange\n",
"\n",
"from lerobot.common.utils.utils import format_big_number\n",
"\n",
"import torch\n",
"from torch.cuda.amp import GradScaler\n",
"\n",
"from aim import Run"
]
},
{
"cell_type": "markdown",
"id": "9e86dc96",
"metadata": {},
"source": [
"`train.py` wraps itself around the modular `hydra` config.\n",
"\n",
"We will load it below and use the default values to parametrize the training run."
]
},
{
"cell_type": "code",
"execution_count": 3,
"id": "05d59b44",
"metadata": {},
"outputs": [],
"source": [
"import hydra\n",
"from hydra import compose, initialize\n",
"\n",
"hydra.core.global_hydra.GlobalHydra.instance().clear()\n",
"initialize(config_path='../lerobot/lerobot/configs/', version_base=\"1.2\")\n",
"cfg = compose(config_name=\"default\", overrides=[\"policy=diffusion\", \"env=pusht\"])\n",
"\n",
"device = torch.device('cuda')"
]
},
{
"cell_type": "markdown",
"id": "ad70bb61",
"metadata": {},
"source": [
"# Create the train dataset"
]
},
{
"cell_type": "code",
"execution_count": 4,
"id": "1a3b3a05",
"metadata": {},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "0332a37779d44762912bea6acb5a2526",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
"Fetching 222 files: 0%| | 0/222 [00:00<?, ?it/s]"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"dataset = make_dataset(cfg)"
]
},
{
"cell_type": "code",
"execution_count": 5,
"id": "f25d41d4",
"metadata": {},
"outputs": [],
"source": [
"if cfg.training.get(\"drop_n_last_frames\"):\n",
" shuffle = False\n",
" sampler = EpisodeAwareSampler(\n",
" dataset.episode_data_index,\n",
" drop_n_last_frames=cfg.training.drop_n_last_frames,\n",
" shuffle=True,\n",
" )\n",
"else:\n",
" shuffle = True\n",
" sampler = None\n",
"dataloader = torch.utils.data.DataLoader(\n",
" dataset,\n",
" num_workers=cfg.training.num_workers,\n",
" batch_size=cfg.training.batch_size,\n",
" shuffle=shuffle,\n",
" sampler=sampler,\n",
" pin_memory=device.type != \"cpu\",\n",
" drop_last=False,\n",
")\n",
"dl_iter = cycle(dataloader)"
]
},
{
"cell_type": "code",
"execution_count": 6,
"id": "89901dd5",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"(24256, 25650)"
]
},
"execution_count": 6,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"# cfg.training.drop_n_last_frames has worked!\n",
"len(dataloader) * cfg.training.batch_size, len(dataset)"
]
},
{
"cell_type": "markdown",
"id": "b37dc15a",
"metadata": {},
"source": [
"# Create the policy"
]
},
{
"cell_type": "code",
"execution_count": 7,
"id": "9b853352",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"'resnet18'"
]
},
"execution_count": 7,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"cfg.policy.vision_backbone"
]
},
{
"cell_type": "code",
"execution_count": 8,
"id": "a71d2096",
"metadata": {},
"outputs": [],
"source": [
"# mhmm, that is an interesting choice to not use a pretrained model\n",
"# worth checking if one might get better results using pretrained weights\n",
"cfg.policy.pretrained_backbone_weights # set to None, possible value: \"IMAGENET1K_V1\""
]
},
{
"cell_type": "code",
"execution_count": 9,
"id": "07a815ad",
"metadata": {},
"outputs": [],
"source": [
"# # use imagenet stats for normalization of images when used with pretrained weights\n",
"# imagenet_mean = [0.485, 0.456, 0.406]\n",
"# imagenet_std=[0.229, 0.224, 0.225]\n",
"# dataset.stats['observation.images.top']['mean'] = torch.tensor(imagenet_mean)[:, None, None]\n",
"# dataset.stats['observation.images.top']['std'] = torch.tensor(imagenet_std)[:, None, None]"
]
},
{
"cell_type": "code",
"execution_count": 10,
"id": "52ddf40c",
"metadata": {},
"outputs": [],
"source": [
"policy = make_policy(\n",
" hydra_cfg=cfg,\n",
" dataset_stats=dataset.stats\n",
")"
]
},
{
"cell_type": "code",
"execution_count": 11,
"id": "5e57b3fd",
"metadata": {},
"outputs": [],
"source": [
"cfg.use_amp = True"
]
},
{
"cell_type": "code",
"execution_count": 12,
"id": "0059e62d",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"'cosine'"
]
},
"execution_count": 12,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"# getting the optimizer and lr_scheduler\n",
"optimizer = torch.optim.Adam(\n",
" policy.diffusion.parameters(),\n",
" cfg.training.lr,\n",
" cfg.training.adam_betas,\n",
" cfg.training.adam_eps,\n",
" cfg.training.adam_weight_decay,\n",
")\n",
"\n",
"from diffusers.optimization import get_scheduler\n",
"lr_scheduler = get_scheduler(\n",
" cfg.training.lr_scheduler,\n",
" \n",
" optimizer=optimizer,\n",
" num_warmup_steps=cfg.training.lr_warmup_steps,\n",
" num_training_steps=cfg.training.offline_steps,\n",
")\n",
"\n",
"grad_scaler = GradScaler(enabled=cfg.use_amp)\n",
"\n",
"cfg.training.lr_scheduler"
]
},
{
"cell_type": "code",
"execution_count": 13,
"id": "2f6b55d4",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"num_learnable_params: 263M\n",
"num_total_params: 263M\n"
]
}
],
"source": [
"num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad)\n",
"num_total_params = sum(p.numel() for p in policy.parameters())\n",
"\n",
"print(f\"num_learnable_params: {format_big_number(num_learnable_params)}\")\n",
"print(f\"num_total_params: {format_big_number(num_total_params)}\")"
]
},
{
"cell_type": "code",
"execution_count": 14,
"id": "a128a6bc-6a80-48a8-acd4-698f5970b887",
"metadata": {},
"outputs": [],
"source": [
"dataset_name = dataset.repo_id.split('/')[1]\n",
"run = Run(experiment=f\"diffusion | {dataset_name}\", repo='dry_run' if dry_run else None)\n",
"run[\"hparams\"] = cfg"
]
},
{
"cell_type": "markdown",
"id": "1cba61da-0f42-40de-99f7-7ba10d01f639",
"metadata": {},
"source": [
"# Set up rollout validation"
]
},
{
"cell_type": "code",
"execution_count": 15,
"id": "403f677f-8c2c-4c13-9f71-bf1a9fc68bc3",
"metadata": {},
"outputs": [],
"source": [
"# https://github.com/huggingface/lerobot/blob/main/examples/2_evaluate_pretrained_policy.py\n",
"# consider replacing with:\n",
"# from lerobot.scripts.eval import eval_policy\n",
"\n",
"import gymnasium as gym\n",
"import gym_pusht\n",
"import imageio\n",
"\n",
"def run_rollout_validation(num_runs=1, save_video=False):\n",
" policy.eval()\n",
" successes = 0\n",
" for run_idx in range(num_runs):\n",
"\n",
" env = gym.make(\n",
" \"gym_pusht/PushT-v0\",\n",
" obs_type=\"pixels_agent_pos\",\n",
" max_episode_steps=cfg.env.episode_length\n",
" )\n",
" numpy_observation, info = env.reset()\n",
" policy.reset()\n",
" \n",
" if save_video:\n",
" frames = []\n",
" frames.append(env.render())\n",
" \n",
" done = False\n",
" rewards, frames = [], []\n",
" while not done:\n",
" state = torch.from_numpy(numpy_observation[\"agent_pos\"])\n",
" image = torch.from_numpy(numpy_observation[\"pixels\"])\n",
" \n",
" state = state.to(torch.float32)\n",
" image = image.to(torch.float32) / 255\n",
" image = image.permute(2, 0, 1)\n",
" \n",
" state = state.to(device, non_blocking=True)\n",
" image = image.to(device, non_blocking=True)\n",
" \n",
" state = state.unsqueeze(0)\n",
" image = image.unsqueeze(0)\n",
" \n",
" observation = {\n",
" \"observation.state\": state,\n",
" \"observation.image\": image,\n",
" }\n",
" \n",
" with torch.inference_mode():\n",
" action = policy.select_action(observation)\n",
" numpy_action = action.squeeze(0).to(\"cpu\").numpy()\n",
" numpy_observation, reward, terminated, truncated, info = env.step(numpy_action)\n",
" \n",
" rewards.append(reward)\n",
" if save_video: frames.append(env.render())\n",
" \n",
" done = terminated | truncated | done\n",
" \n",
" if terminated: successes += 1\n",
" \n",
" if save_video:\n",
" !mkdir -p videos\n",
" fps = env.metadata['render_fps']\n",
" video_path = f'videos/pusht_{run_idx}.mp4'\n",
" imageio.mimsave(video_path, frames, fps=fps)\n",
" print(f\"Video of the evaluation is available in '{video_path}'.\")\n",
" return successes/num_runs"
]
},
{
"cell_type": "code",
"execution_count": 16,
"id": "7065a265",
"metadata": {},
"outputs": [],
"source": [
"# from IPython.display import Video\n",
"\n",
"# run_rollout_validation(save_video=True)\n",
"\n",
"# video = Video('videos/pusht_0.mp4', width=320, height=240)\n",
"# video"
]
},
{
"cell_type": "markdown",
"id": "7ac1209e",
"metadata": {},
"source": [
"# Train"
]
},
{
"cell_type": "code",
"execution_count": 17,
"id": "8b431ee6",
"metadata": {},
"outputs": [],
"source": [
"# makes warnings go away ¯\\_(ツ)_/¯\n",
"torch.backends.cudnn.benchmark = True\n",
"torch.backends.cuda.matmul.allow_tf32 = True"
]
},
{
"cell_type": "code",
"execution_count": 18,
"id": "50f6845d-1265-4545-ac08-fdb127bfcbe2",
"metadata": {},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "f1e555d1881f4e14a5ded920d3ea08cf",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
" 0%| | 0/200000 [00:00<?, ?it/s]"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"/home/radek/miniforge3/envs/lerobot/lib/python3.10/site-packages/torch/optim/lr_scheduler.py:271: UserWarning: To get the last learning rate computed by the scheduler, please use `get_last_lr()`.\n",
" warnings.warn(\"To get the last learning rate computed by the scheduler, \"\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"CPU times: user 5h 3min 35s, sys: 16min 53s, total: 5h 20min 29s\n",
"Wall time: 5h 59min 11s\n"
]
}
],
"source": [
"%%time\n",
"\n",
"train_iter = cycle(dataloader)\n",
"\n",
"def move_batch_to_GPU(batch):\n",
" return {k: v.cuda(non_blocking=True) for k, v in batch.items()}\n",
"\n",
"with trange(cfg.training.offline_steps if not dry_run else 100) as t:\n",
" policy.train()\n",
" for step in t:\n",
" batch = next(train_iter)\n",
" batch = move_batch_to_GPU(batch)\n",
" \n",
" with torch.autocast(device_type=device.type) if cfg.use_amp else nullcontext():\n",
" output_dict = policy.forward(batch)\n",
" \n",
" loss = output_dict[\"loss\"]\n",
" grad_scaler.scale(loss).backward()\n",
" \n",
" grad_scaler.unscale_(optimizer)\n",
" \n",
" grad_norm = torch.nn.utils.clip_grad_norm_(\n",
" policy.parameters(),\n",
" cfg.training.grad_clip_norm,\n",
" error_if_nonfinite=False,\n",
" )\n",
" \n",
" grad_scaler.step(optimizer)\n",
" grad_scaler.update()\n",
" \n",
" optimizer.zero_grad()\n",
" lr_scheduler.step()\n",
" \n",
" t.set_postfix(loss=loss.item())\n",
" run.track(loss, name='loss', step=step, context={\"subset\": \"train\"})\n",
" run.track(lr_scheduler.get_lr(), name='lr', step=step)"
]
},
{
"cell_type": "code",
"execution_count": 19,
"id": "535d9303",
"metadata": {},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5b65ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_0.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"/home/radek/miniforge3/envs/lerobot/lib/python3.10/site-packages/shapely/set_operations.py:131: RuntimeWarning: divide by zero encountered in intersection\n",
" return lib.intersection(a, b, **kwargs)\n",
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6400ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_1.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6950ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_2.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5c25ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_3.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x56eaec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_4.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5b29ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_5.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5bf4ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_6.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x55d4ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_7.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5bd3ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_8.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7018ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_9.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7028ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_10.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6d45ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_11.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x60e6ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_12.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6473ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_13.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x658dec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_14.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x575bec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_15.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5e07ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_16.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5ccdec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_17.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5d14ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_18.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x585aec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_19.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x73edec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_20.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5af4ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_21.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x72a2ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_22.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6880ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_23.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7156ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_24.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5b3eec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_25.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7010ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_26.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5dd0ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_27.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6befec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_28.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5c09ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_29.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5680ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_30.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5e94ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_31.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5befec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_32.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5a6bec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_33.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x695bec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_34.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x63b1ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_35.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x603fec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_36.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x65fdec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_37.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6cf5ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_38.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x66d3ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_39.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x660dec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_40.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5f47ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_41.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5611ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_42.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5d77ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_43.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6db9ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_44.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5e33ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_45.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6639ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_46.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x59f3ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_47.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7138ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_48.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x69e8ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_49.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x74adec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_50.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x634bec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_51.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x676fec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_52.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6a03ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_53.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6999ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_54.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6f06ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_55.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x68f4ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_56.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6050ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_57.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x715fec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_58.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5f45ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_59.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6205ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_60.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x73d9ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_61.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x73ffec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_62.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7254ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_63.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x65f3ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_64.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6dbbec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_65.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x663cec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_66.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6cafec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_67.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6a75ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_68.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6c78ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_69.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6b2bec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_70.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6263ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_71.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6504ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_72.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5798ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_73.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5721ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_74.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6db0ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_75.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x60deec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_76.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7474ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_77.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7431ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_78.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x7130ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_79.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x700bec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_80.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x725bec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_81.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x589eec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_82.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x66a9ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_83.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5926ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_84.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x55e8ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_85.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x646fec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_86.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5b69ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_87.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5deaec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_88.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6036ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_89.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x69aaec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_90.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x68d4ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_91.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x64a5ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_92.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5eaaec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_93.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x630dec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_94.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x74a1ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_95.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x5baaec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_96.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x68ffec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_97.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x580fec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_98.mp4'.\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (680, 680) to (688, 688) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).\n",
"[swscaler @ 0x6956ec0] Warning: data is not aligned! This can lead to a speed loss\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Video of the evaluation is available in 'videos/pusht_99.mp4'.\n",
"CPU times: user 25min 18s, sys: 7min 30s, total: 32min 48s\n",
"Wall time: 31min 13s\n"
]
}
],
"source": [
"%%time\n",
"\n",
"rollout_validation_success_rate = run_rollout_validation(100, save_video=True)\n",
"run.track(rollout_validation_success_rate, name='rollout_validation_success_rate')\n",
"\n",
"policy.save_pretrained(f'models/diffusion_{dataset_name}_{rollout_validation_success_rate}')"
]
},
{
"cell_type": "code",
"execution_count": 20,
"id": "71e03008",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"0.69"
]
},
"execution_count": 20,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"rollout_validation_success_rate"
]
},
{
"cell_type": "code",
"execution_count": 21,
"id": "e52f0145-a6f4-44d9-ad0d-62aa88f49d94",
"metadata": {},
"outputs": [],
"source": [
"run.close()"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.14"
}
},
"nbformat": 4,
"nbformat_minor": 5
}
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment