File size: 81,791 Bytes
cbba630 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 | === Avatar Training (fire-and-forget) ===
Script: train_pi0fast.py
Started: 2026-03-12 02:49:32 UTC
>>> [0/4] Raising file descriptor limit...
ulimit -n = 1048576
>>> [1/4] Setting environment...
HF_TOKEN set: 37 chars
WANDB_API_KEY set: 0 chars
>>> [2/4] Logging into HuggingFace...
The token has not been saved to the git credentials helper. Pass `add_to_git_credential=True` in this function directly or `--add-to-git-credential` if using via `hf`CLI if you want to set the git credential as well.
Token is valid (permission: write).
The token `beta-pc` has been saved to /root/.cache/huggingface/stored_tokens
Your token has been saved to /root/.cache/huggingface/token
Login successful.
Note: Environment variable`HF_TOKEN` is set and is the current active token independently from the token you've just configured.
[33m⚠️ Warning: 'huggingface-cli login' is deprecated. Use 'hf auth login' instead.[0m
>>> [3/4] Pre-downloading pretrained model...
Traceback (most recent call last):
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
response.raise_for_status()
File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
raise HTTPError(http_error_msg, response=self)
requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/api/models/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/revision/main
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "<string>", line 9, in <module>
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
return fn(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/_snapshot_download.py", line 245, in snapshot_download
raise api_call_error
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/_snapshot_download.py", line 165, in snapshot_download
repo_info = api.repo_info(repo_id=repo_id, repo_type=repo_type, revision=revision)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
return fn(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/hf_api.py", line 2864, in repo_info
return method(
^^^^^^^
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
return fn(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/hf_api.py", line 2649, in model_info
hf_raise_for_status(r)
File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
raise _format(RepositoryNotFoundError, message, response) from e
huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b229bd-20e5504f7965755a6348750a;c0fc7039-1753-4ef4-8f54-5a994e44df43)
Repository Not Found for url: https://huggingface.co/api/models/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/revision/main.
Please make sure you specified the correct `repo_id` and `repo_type`.
If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
Downloading avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806...
GPUs: 8x NVIDIA H200
>>> [4/4] Launching accelerate with 8 GPUs...
Script: train_pi0fast.py
Train args: --dataset orange_hook_right_20260310 --steps 100000 --batch-size 8 --lr 2e-5 --save-freq 5000 --push-to-hub --num-workers 8 --pretrained-path avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 --task-text pick\ the\ orange\ rectangular\ package\ from\ the\ bin\ and\ then\ move\ to\ the\ conveyor\ that\ is\ moving\ target\ boxes\,\ drop\ the\ item
The following values were not passed to `accelerate launch` and had defaults used instead:
`--num_machines` was set to a value of `1`
`--mixed_precision` was set to a value of `'no'`
`--dynamo_backend` was set to a value of `'no'`
To avoid this warning pass in values for each of the problematic parameters or run `accelerate config`.
============================================================
π₀-FAST Training
============================================================
Dataset: hamidavatar/orange_hook_right_20260310
Pretrained: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Model repo: avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249
Steps: 100000
Batch/GPU: 8 (eff: 64)
Chunk size: 10
LR: 2e-05
Save freq: 5000
GPUs: 8
============================================================
lerobot_train \
--dataset.repo_id=hamidavatar/orange_hook_right_20260310 \
--policy.type=pi0_fast \
--policy.pretrained_path=avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 \
--policy.repo_id=avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 \
--policy.dtype=bfloat16 \
--policy.gradient_checkpointing=true \
--policy.chunk_size=10 \
--policy.n_action_steps=10 \
--policy.max_action_tokens=256 \
--policy.optimizer_lr=2e-05 \
--policy.optimizer_weight_decay=0.01 \
--policy.scheduler_warmup_steps=1000 \
--policy.scheduler_decay_steps=100000 \
--policy.scheduler_decay_lr=1e-6 \
--batch_size=8 \
--steps=100000 \
--save_freq=5000 \
--log_freq=100 \
--save_checkpoint=true \
--seed=1000 \
--num_workers=8 \
--output_dir=outputs/train/pi0fast \
--tolerance_s=2.0 \
--policy.push_to_hub=true \
--policy.private=true \
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 (with per-step tags)
[Avatar] Dataset task text patched → "pick the orange rectangular package from the bin and then move to the conveyor that is moving target boxes, drop the item"
[Avatar] Dataset timestamp tolerance set to 2.0s
[Avatar] Installed corrupt-frame retry handler
[Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 (with per-step tags)
[Avatar] Dataset task text patched → "pick the orange rectangular package from the bin and then move to the conveyor that is moving target boxes, drop the item"
[Avatar] Dataset timestamp tolerance set to 2.0s
[Avatar] Installed corrupt-frame retry handler
[Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 (with per-step tags)
[Avatar] Dataset task text patched → "pick the orange rectangular package from the bin and then move to the conveyor that is moving target boxes, drop the item"
[Avatar] Dataset timestamp tolerance set to 2.0s
[Avatar] Installed corrupt-frame retry handler
[Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 (with per-step tags)
[Avatar] Dataset task text patched → "pick the orange rectangular package from the bin and then move to the conveyor that is moving target boxes, drop the item"
[Avatar] Dataset timestamp tolerance set to 2.0s
[Avatar] Installed corrupt-frame retry handler
[Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 (with per-step tags)
[Avatar] Dataset task text patched → "pick the orange rectangular package from the bin and then move to the conveyor that is moving target boxes, drop the item"
[Avatar] Dataset timestamp tolerance set to 2.0s
[Avatar] Installed corrupt-frame retry handler
[Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 (with per-step tags)
[Avatar] Dataset task text patched → "pick the orange rectangular package from the bin and then move to the conveyor that is moving target boxes, drop the item"
[Avatar] Dataset timestamp tolerance set to 2.0s
[Avatar] Installed corrupt-frame retry handler
[Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 (with per-step tags)
[Avatar] Dataset task text patched → "pick the orange rectangular package from the bin and then move to the conveyor that is moving target boxes, drop the item"
[Avatar] Dataset timestamp tolerance set to 2.0s
[Avatar] Installed corrupt-frame retry handler
[Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249 (with per-step tags)
[Avatar] Dataset task text patched → "pick the orange rectangular package from the bin and then move to the conveyor that is moving target boxes, drop the item"
[Avatar] Dataset timestamp tolerance set to 2.0s
[Avatar] Installed corrupt-frame retry handler
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
INFO 2026-03-12 02:50:09 ot_train.py:197 {'batch_size': 8,
'checkpoint_path': None,
'dataset': {'episodes': None,
'image_transforms': {'enable': False,
'max_num_transforms': 3,
'random_order': False,
'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
5.0],
'translate': [0.05,
0.05]},
'type': 'RandomAffine',
'weight': 1.0},
'brightness': {'kwargs': {'brightness': [0.8,
1.2]},
'type': 'ColorJitter',
'weight': 1.0},
'contrast': {'kwargs': {'contrast': [0.8,
1.2]},
'type': 'ColorJitter',
'weight': 1.0},
'hue': {'kwargs': {'hue': [-0.05,
0.05]},
'type': 'ColorJitter',
'weight': 1.0},
'saturation': {'kwargs': {'saturation': [0.5,
1.5]},
'type': 'ColorJitter',
'weight': 1.0},
'sharpness': {'kwargs': {'sharpness': [0.5,
1.5]},
'type': 'SharpnessJitter',
'weight': 1.0}}},
'repo_id': 'hamidavatar/orange_hook_right_20260310',
'revision': None,
'root': None,
'streaming': False,
'use_imagenet_stats': True,
'video_backend': 'torchcodec'},
'env': None,
'eval': {'batch_size': 50, 'n_episodes': 50, 'use_async_envs': False},
'eval_freq': 20000,
'job_name': 'pi0_fast',
'log_freq': 100,
'num_workers': 8,
'optimizer': {'betas': [0.9, 0.95],
'eps': 1e-08,
'grad_clip_norm': 1.0,
'lr': 2e-05,
'type': 'adamw',
'weight_decay': 0.01},
'output_dir': 'outputs/train/pi0fast',
'peft': None,
'policy': {'action_expert_variant': 'gemma_300m',
'action_tokenizer_name': 'physical-intelligence/fast',
'chunk_size': 10,
'compile_mode': 'max-autotune',
'compile_model': False,
'device': 'cuda',
'dtype': 'bfloat16',
'empty_cameras': 0,
'fast_skip_tokens': 128,
'gradient_checkpointing': True,
'image_resolution': [224, 224],
'input_features': {},
'license': None,
'max_action_dim': 32,
'max_action_tokens': 256,
'max_decoding_steps': 256,
'max_state_dim': 32,
'n_action_steps': 10,
'n_obs_steps': 1,
'normalization_mapping': {'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
'optimizer_betas': [0.9, 0.95],
'optimizer_eps': 1e-08,
'optimizer_grad_clip_norm': 1.0,
'optimizer_lr': 2e-05,
'optimizer_weight_decay': 0.01,
'output_features': {},
'paligemma_variant': 'gemma_2b',
'pretrained_path': 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806',
'private': True,
'push_to_hub': True,
'repo_id': 'avatarrobotics/pi0fast-orange-hook-right-b64-20260312-0249',
'rtc_config': None,
'scheduler_decay_lr': 1e-06,
'scheduler_decay_steps': 100000,
'scheduler_warmup_steps': 1000,
'tags': None,
'temperature': 0.0,
'text_tokenizer_name': 'google/paligemma-3b-pt-224',
'tokenizer_max_length': 200,
'type': 'pi0_fast',
'use_amp': False,
'use_kv_cache': True,
'use_peft': False,
'validate_action_token_prefix': True},
'rabc_epsilon': 1e-06,
'rabc_head_mode': 'sparse',
'rabc_kappa': 0.01,
'rabc_progress_path': None,
'rename_map': {},
'resume': False,
'save_checkpoint': True,
'save_freq': 5000,
'scheduler': {'decay_lr': 1e-06,
'num_decay_steps': 100000,
'num_warmup_steps': 1000,
'peak_lr': 2e-05,
'type': 'cosine_decay_with_warmup'},
'seed': 1000,
'steps': 100000,
'tolerance_s': 2.0,
'use_policy_training_preset': True,
'use_rabc': False,
'wandb': {'disable_artifact': False,
'enable': False,
'entity': None,
'mode': None,
'notes': None,
'project': 'lerobot',
'run_id': None}}
INFO 2026-03-12 02:50:09 ot_train.py:205 Logs will be saved locally.
INFO 2026-03-12 02:50:09 ot_train.py:217 Creating dataset
Fetching 7 files: 0%| | 0/7 [00:00<?, ?it/s]
Fetching 7 files: 14%|█▍ | 1/7 [00:00<00:03, 1.87it/s]
Fetching 7 files: 29%|██▊ | 2/7 [00:00<00:01, 3.55it/s]
Fetching 7 files: 43%|████▎ | 3/7 [00:00<00:00, 4.20it/s]
Fetching 7 files: 100%|██████████| 7/7 [00:00<00:00, 8.22it/s]
INFO 2026-03-12 02:50:10 eo_utils.py:106 Using video codec: libsvtav1
Fetching 523 files: 0%| | 0/523 [00:00<?, ?it/s]
Fetching 523 files: 0%| | 1/523 [00:00<01:30, 5.77it/s]
Fetching 523 files: 0%| | 2/523 [00:00<02:38, 3.28it/s]
Fetching 523 files: 2%|▏ | 12/523 [00:00<00:27, 18.89it/s]
Fetching 523 files: 3%|▎ | 17/523 [00:00<00:22, 22.23it/s]
Fetching 523 files: 4%|▍ | 20/523 [00:01<00:29, 16.78it/s]
Fetching 523 files: 4%|▍ | 22/523 [00:01<00:36, 13.56it/s]
Fetching 523 files: 5%|▌ | 28/523 [00:01<00:29, 16.54it/s]
Fetching 523 files: 6%|▌ | 32/523 [00:01<00:25, 18.90it/s]
Fetching 523 files: 7%|▋ | 35/523 [00:02<00:27, 17.47it/s]
Fetching 523 files: 7%|▋ | 38/523 [00:02<00:25, 19.29it/s]
Fetching 523 files: 8%|▊ | 41/523 [00:02<00:28, 17.12it/s]
Fetching 523 files: 8%|▊ | 43/523 [00:03<01:00, 7.93it/s]
Fetching 523 files: 11%|█ | 55/523 [00:03<00:25, 18.47it/s]
Fetching 523 files: 11%|█▏ | 59/523 [00:04<00:36, 12.76it/s]
Fetching 523 files: 13%|█▎ | 66/523 [00:04<00:27, 16.65it/s]
Fetching 523 files: 13%|█▎ | 70/523 [00:04<00:27, 16.61it/s]
Fetching 523 files: 14%|█▍ | 73/523 [00:04<00:28, 16.02it/s]
Fetching 523 files: 15%|█▍ | 76/523 [00:04<00:28, 15.56it/s]
Fetching 523 files: 15%|█▌ | 80/523 [00:05<00:25, 17.42it/s]
Fetching 523 files: 16%|█▌ | 83/523 [00:05<00:27, 15.92it/s]
Fetching 523 files: 16%|█▋ | 86/523 [00:05<00:35, 12.48it/s]
Fetching 523 files: 17%|█▋ | 88/523 [00:05<00:36, 11.78it/s]
Fetching 523 files: 18%|█▊ | 94/523 [00:06<00:24, 17.33it/s]
Fetching 523 files: 19%|█▊ | 97/523 [00:06<00:28, 14.94it/s]
Fetching 523 files: 20%|█▉ | 103/523 [00:06<00:19, 21.48it/s]
Fetching 523 files: 20%|██ | 106/523 [00:06<00:28, 14.44it/s]
Fetching 523 files: 21%|██ | 109/523 [00:07<00:26, 15.89it/s]
Fetching 523 files: 22%|██▏ | 113/523 [00:07<00:31, 13.19it/s]
Fetching 523 files: 22%|██▏ | 115/523 [00:07<00:31, 13.16it/s]
Fetching 523 files: 23%|██▎ | 119/523 [00:07<00:26, 15.27it/s]
Fetching 523 files: 24%|██▎ | 123/523 [00:08<00:36, 11.07it/s]
Fetching 523 files: 25%|██▌ | 131/523 [00:08<00:24, 15.91it/s]
Fetching 523 files: 26%|██▌ | 136/523 [00:08<00:21, 17.90it/s]
Fetching 523 files: 27%|██▋ | 139/523 [00:09<00:42, 9.06it/s]
Fetching 523 files: 28%|██▊ | 148/523 [00:09<00:25, 14.45it/s]
Fetching 523 files: 30%|██▉ | 155/523 [00:10<00:20, 18.04it/s]
Fetching 523 files: 30%|███ | 158/523 [00:10<00:25, 14.11it/s]
Fetching 523 files: 31%|███ | 162/523 [00:10<00:21, 16.42it/s]
Fetching 523 files: 32%|███▏ | 165/523 [00:10<00:20, 17.88it/s]
Fetching 523 files: 32%|███▏ | 168/523 [00:11<00:24, 14.48it/s]
Fetching 523 files: 33%|███▎ | 171/523 [00:11<00:29, 11.74it/s]
Fetching 523 files: 33%|███▎ | 174/523 [00:11<00:33, 10.33it/s]
Fetching 523 files: 34%|███▍ | 180/523 [00:12<00:24, 13.79it/s]
Fetching 523 files: 35%|███▍ | 183/523 [00:12<00:22, 14.94it/s]
Fetching 523 files: 35%|███▌ | 185/523 [00:12<00:27, 12.47it/s]
Fetching 523 files: 36%|███▋ | 190/523 [00:12<00:23, 14.15it/s]
Fetching 523 files: 37%|███▋ | 192/523 [00:13<00:25, 12.79it/s]
Fetching 523 files: 37%|███▋ | 196/523 [00:13<00:20, 15.82it/s]
Fetching 523 files: 38%|███▊ | 201/523 [00:13<00:16, 19.70it/s]
Fetching 523 files: 39%|███▉ | 204/523 [00:13<00:20, 15.56it/s]
Fetching 523 files: 40%|███▉ | 208/523 [00:14<00:20, 15.54it/s]
Fetching 523 files: 40%|████ | 210/523 [00:14<00:30, 10.16it/s]
Fetching 523 files: 41%|████▏ | 216/523 [00:14<00:21, 14.37it/s]
Fetching 523 files: 42%|████▏ | 221/523 [00:14<00:16, 17.94it/s]
Fetching 523 files: 43%|████▎ | 224/523 [00:14<00:15, 19.47it/s]
Fetching 523 files: 43%|████▎ | 227/523 [00:15<00:25, 11.68it/s]
Fetching 523 files: 44%|████▍ | 230/523 [00:15<00:23, 12.40it/s]
Fetching 523 files: 44%|████▍ | 232/523 [00:16<00:30, 9.61it/s]
Fetching 523 files: 46%|████▌ | 239/523 [00:16<00:25, 11.11it/s]
Fetching 523 files: 47%|████▋ | 244/523 [00:17<00:28, 9.85it/s]
Fetching 523 files: 49%|████▉ | 257/523 [00:17<00:13, 20.22it/s]
Fetching 523 files: 50%|█████ | 262/523 [00:18<00:22, 11.73it/s]
Fetching 523 files: 51%|█████ | 266/523 [00:19<00:27, 9.33it/s]
Fetching 523 files: 51%|█████▏ | 269/523 [00:19<00:33, 7.59it/s]
Fetching 523 files: 52%|█████▏ | 272/523 [00:20<00:28, 8.84it/s]
Fetching 523 files: 53%|█████▎ | 276/523 [00:20<00:28, 8.79it/s]
Fetching 523 files: 53%|█████▎ | 278/523 [00:21<00:36, 6.74it/s]
Fetching 523 files: 54%|█████▎ | 280/523 [00:21<00:34, 7.10it/s]
Fetching 523 files: 54%|█████▍ | 282/523 [00:21<00:39, 6.13it/s]
Fetching 523 files: 54%|█████▍ | 284/523 [00:22<00:36, 6.49it/s]
Fetching 523 files: 55%|█████▍ | 286/523 [00:22<00:46, 5.11it/s]
Fetching 523 files: 55%|█████▌ | 289/523 [00:22<00:36, 6.47it/s]
Fetching 523 files: 56%|█████▌ | 291/523 [00:23<00:31, 7.43it/s]
Fetching 523 files: 56%|█████▌ | 293/523 [00:23<00:26, 8.63it/s]
Fetching 523 files: 56%|█████▋ | 295/523 [00:23<00:32, 7.05it/s]
Fetching 523 files: 57%|█████▋ | 296/523 [00:24<00:41, 5.50it/s]
Fetching 523 files: 57%|█████▋ | 297/523 [00:24<01:05, 3.47it/s]
Fetching 523 files: 58%|█████▊ | 303/523 [00:24<00:28, 7.64it/s]
Fetching 523 files: 59%|█████▊ | 306/523 [00:25<00:22, 9.68it/s]
Fetching 523 files: 59%|█████▉ | 308/523 [00:25<00:35, 6.10it/s]
Fetching 523 files: 59%|█████▉ | 310/523 [00:26<00:44, 4.80it/s]
Fetching 523 files: 60%|██████ | 315/523 [00:26<00:28, 7.40it/s]
Fetching 523 files: 61%|██████ | 317/523 [00:27<00:32, 6.30it/s]
Fetching 523 files: 61%|██████ | 319/523 [00:27<00:27, 7.38it/s]
Fetching 523 files: 61%|██████▏ | 321/523 [00:28<00:40, 5.05it/s]
Fetching 523 files: 62%|██████▏ | 325/523 [00:28<00:27, 7.23it/s]
Fetching 523 files: 63%|██████▎ | 327/523 [00:28<00:29, 6.72it/s]
Fetching 523 files: 63%|██████▎ | 329/523 [00:29<00:29, 6.61it/s]
Fetching 523 files: 63%|██████▎ | 332/523 [00:29<00:32, 5.82it/s]
Fetching 523 files: 64%|██████▎ | 333/523 [00:29<00:34, 5.52it/s]
Fetching 523 files: 64%|██████▍ | 337/523 [00:30<00:37, 4.99it/s]
Fetching 523 files: 65%|██████▌ | 341/523 [00:31<00:27, 6.61it/s]
Fetching 523 files: 66%|██████▌ | 346/523 [00:32<00:29, 6.09it/s]
Fetching 523 files: 67%|██████▋ | 348/523 [00:32<00:31, 5.64it/s]
Fetching 523 files: 68%|██████▊ | 354/523 [00:33<00:22, 7.41it/s]
Fetching 523 files: 68%|██████▊ | 355/523 [00:33<00:22, 7.33it/s]
Fetching 523 files: 68%|██████▊ | 356/523 [00:33<00:29, 5.58it/s]
Fetching 523 files: 69%|██████▊ | 359/523 [00:34<00:26, 6.09it/s]
Fetching 523 files: 69%|██████▉ | 362/523 [00:34<00:25, 6.29it/s]
Fetching 523 files: 70%|███████ | 368/523 [00:35<00:21, 7.06it/s]
Fetching 523 files: 71%|███████ | 370/523 [00:35<00:19, 7.96it/s]
Fetching 523 files: 71%|███████ | 372/523 [00:35<00:18, 7.95it/s]
Fetching 523 files: 72%|███████▏ | 374/523 [00:35<00:20, 7.35it/s]
Fetching 523 files: 72%|███████▏ | 376/523 [00:36<00:19, 7.51it/s]
Fetching 523 files: 72%|███████▏ | 379/523 [00:36<00:24, 5.94it/s]
Fetching 523 files: 73%|███████▎ | 382/523 [00:37<00:21, 6.69it/s]
Fetching 523 files: 74%|███████▍ | 386/523 [00:37<00:20, 6.72it/s]
Fetching 523 files: 74%|███████▍ | 387/523 [00:38<00:20, 6.65it/s]
Fetching 523 files: 74%|███████▍ | 389/523 [00:38<00:16, 7.96it/s]
Fetching 523 files: 75%|███████▌ | 393/523 [00:38<00:20, 6.39it/s]
Fetching 523 files: 75%|███████▌ | 394/523 [00:39<00:19, 6.60it/s]
Fetching 523 files: 76%|███████▌ | 397/523 [00:39<00:18, 6.96it/s]
Fetching 523 files: 76%|███████▋ | 400/523 [00:39<00:16, 7.60it/s]
Fetching 523 files: 77%|███████▋ | 402/523 [00:39<00:14, 8.17it/s]
Fetching 523 files: 77%|███████▋ | 404/523 [00:40<00:24, 4.84it/s]
Fetching 523 files: 78%|███████▊ | 407/523 [00:40<00:17, 6.66it/s]
Fetching 523 files: 78%|███████▊ | 410/523 [00:41<00:14, 7.94it/s]
Fetching 523 files: 79%|███████▉ | 412/523 [00:41<00:13, 8.20it/s]
Fetching 523 files: 79%|███████▉ | 414/523 [00:41<00:15, 6.89it/s]
Fetching 523 files: 79%|███████▉ | 415/523 [00:42<00:16, 6.44it/s]
Fetching 523 files: 80%|███████▉ | 417/523 [00:42<00:23, 4.57it/s]
Fetching 523 files: 80%|████████ | 421/523 [00:43<00:18, 5.44it/s]
Fetching 523 files: 81%|████████▏ | 426/523 [00:43<00:14, 6.81it/s]
Fetching 523 files: 82%|████████▏ | 427/523 [00:43<00:13, 6.95it/s]
Fetching 523 files: 82%|████████▏ | 428/523 [00:44<00:17, 5.30it/s]
Fetching 523 files: 83%|████████▎ | 433/523 [00:44<00:11, 7.69it/s]
Fetching 523 files: 83%|████████▎ | 435/523 [00:45<00:12, 7.06it/s]
Fetching 523 files: 83%|████████▎ | 436/523 [00:45<00:16, 5.15it/s]
Fetching 523 files: 84%|████████▍ | 439/523 [00:45<00:12, 6.94it/s]
Fetching 523 files: 84%|████████▍ | 441/523 [00:46<00:12, 6.59it/s]
Fetching 523 files: 85%|████████▍ | 444/523 [00:46<00:09, 8.17it/s]
Fetching 523 files: 85%|████████▌ | 446/523 [00:46<00:10, 7.20it/s]
Fetching 523 files: 86%|████████▌ | 449/523 [00:47<00:10, 7.37it/s]
Fetching 523 files: 86%|████████▌ | 451/523 [00:47<00:09, 7.23it/s]
Fetching 523 files: 87%|████████▋ | 453/523 [00:48<00:12, 5.61it/s]
Fetching 523 files: 87%|████████▋ | 457/523 [00:48<00:08, 7.36it/s]
Fetching 523 files: 88%|████████▊ | 458/523 [00:48<00:11, 5.73it/s]
Fetching 523 files: 88%|████████▊ | 462/523 [00:49<00:07, 7.95it/s]
Fetching 523 files: 89%|████████▊ | 464/523 [00:49<00:06, 8.44it/s]
Fetching 523 files: 89%|████████▉ | 465/523 [00:49<00:07, 8.21it/s]
Fetching 523 files: 89%|████████▉ | 466/523 [00:49<00:07, 7.58it/s]
Fetching 523 files: 89%|████████▉ | 467/523 [00:50<00:10, 5.22it/s]
Fetching 523 files: 90%|████████▉ | 470/523 [00:50<00:08, 6.41it/s]
Fetching 523 files: 90%|█████████ | 473/523 [00:50<00:06, 7.45it/s]
Fetching 523 files: 91%|█████████ | 474/523 [00:50<00:08, 5.99it/s]
Fetching 523 files: 91%|█████████ | 476/523 [00:51<00:07, 6.65it/s]
Fetching 523 files: 92%|█████████▏| 479/523 [00:51<00:04, 9.57it/s]
Fetching 523 files: 92%|█████████▏| 481/523 [00:51<00:04, 8.45it/s]
Fetching 523 files: 92%|█████████▏| 483/523 [00:52<00:10, 3.97it/s]
Fetching 523 files: 93%|█████████▎| 486/523 [00:53<00:07, 4.87it/s]
Fetching 523 files: 94%|█████████▍| 491/523 [00:53<00:05, 5.78it/s]
Fetching 523 files: 94%|█████████▍| 493/523 [00:54<00:04, 6.40it/s]
Fetching 523 files: 95%|█████████▌| 497/523 [00:54<00:03, 7.91it/s]
Fetching 523 files: 95%|█████████▌| 499/523 [00:54<00:03, 6.81it/s]
Fetching 523 files: 96%|█████████▌| 502/523 [00:55<00:02, 7.73it/s]
Fetching 523 files: 96%|█████████▌| 503/523 [00:55<00:03, 5.26it/s]
Fetching 523 files: 97%|█████████▋| 507/523 [00:55<00:01, 8.14it/s]
Fetching 523 files: 97%|█████████▋| 509/523 [00:56<00:01, 7.79it/s]
Fetching 523 files: 98%|█████████▊| 511/523 [00:56<00:02, 5.62it/s]
Fetching 523 files: 98%|█████████▊| 513/523 [00:57<00:01, 5.46it/s]
Fetching 523 files: 99%|█████████▉| 518/523 [00:57<00:00, 7.38it/s]
Fetching 523 files: 99%|█████████▉| 520/523 [00:58<00:00, 5.76it/s]
Fetching 523 files: 100%|██████████| 523/523 [00:58<00:00, 8.98it/s]
NCCL version 2.26.2+cuda12.2
INFO 2026-03-12 02:51:12 ot_train.py:235 Creating policy
The PI0Fast model is a direct port of the OpenPI implementation.
This implementation follows the original OpenPI structure for compatibility.
Original implementation: https://github.com/Physical-Intelligence/openpi
The PI0Fast model is a direct port of the OpenPI implementation.
This implementation follows the original OpenPI structure for compatibility.
Original implementation: https://github.com/Physical-Intelligence/openpi
The PI0Fast model is a direct port of the OpenPI implementation.
This implementation follows the original OpenPI structure for compatibility.
Original implementation: https://github.com/Physical-Intelligence/openpi
The PI0Fast model is a direct port of the OpenPI implementation.
This implementation follows the original OpenPI structure for compatibility.
Original implementation: https://github.com/Physical-Intelligence/openpi
The PI0Fast model is a direct port of the OpenPI implementation.
This implementation follows the original OpenPI structure for compatibility.
Original implementation: https://github.com/Physical-Intelligence/openpi
The PI0Fast model is a direct port of the OpenPI implementation.
This implementation follows the original OpenPI structure for compatibility.
Original implementation: https://github.com/Physical-Intelligence/openpi
The PI0Fast model is a direct port of the OpenPI implementation.
This implementation follows the original OpenPI structure for compatibility.
Original implementation: https://github.com/Physical-Intelligence/openpi
The PI0Fast model is a direct port of the OpenPI implementation.
This implementation follows the original OpenPI structure for compatibility.
Original implementation: https://github.com/Physical-Intelligence/openpi
A new version of the following files was downloaded from https://huggingface.co/physical-intelligence/fast:
- processing_action_tokenizer.py
. Make sure to double-check they do not contain any added malicious code. To avoid downloading new versions of the code file, you can pin a revision.
A new version of the following files was downloaded from https://huggingface.co/physical-intelligence/fast:
- processing_action_tokenizer.py
. Make sure to double-check they do not contain any added malicious code. To avoid downloading new versions of the code file, you can pin a revision.
A new version of the following files was downloaded from https://huggingface.co/physical-intelligence/fast:
- processing_action_tokenizer.py
. Make sure to double-check they do not contain any added malicious code. To avoid downloading new versions of the code file, you can pin a revision.
A new version of the following files was downloaded from https://huggingface.co/physical-intelligence/fast:
- processing_action_tokenizer.py
. Make sure to double-check they do not contain any added malicious code. To avoid downloading new versions of the code file, you can pin a revision.
A new version of the following files was downloaded from https://huggingface.co/physical-intelligence/fast:
- processing_action_tokenizer.py
. Make sure to double-check they do not contain any added malicious code. To avoid downloading new versions of the code file, you can pin a revision.
A new version of the following files was downloaded from https://huggingface.co/physical-intelligence/fast:
- processing_action_tokenizer.py
. Make sure to double-check they do not contain any added malicious code. To avoid downloading new versions of the code file, you can pin a revision.
INFO 2026-03-12 02:51:17 pi0_fast.py:837 Loaded FAST tokenizer for action detokenization
Loading model from: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Could not load state dict from remote files: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `huggingface-cli login` or by passing `token=<your_token>`
Returning model without loading pretrained weights
Loading model from: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Could not load state dict from remote files: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `huggingface-cli login` or by passing `token=<your_token>`
Returning model without loading pretrained weights
Loading model from: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Could not load state dict from remote files: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `huggingface-cli login` or by passing `token=<your_token>`
Returning model without loading pretrained weights
Loading model from: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Could not load state dict from remote files: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `huggingface-cli login` or by passing `token=<your_token>`
Returning model without loading pretrained weights
Loading model from: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Could not load state dict from remote files: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `huggingface-cli login` or by passing `token=<your_token>`
Returning model without loading pretrained weights
Loading model from: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Loading model from: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Could not load state dict from remote files: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `huggingface-cli login` or by passing `token=<your_token>`
Returning model without loading pretrained weights
Could not load state dict from remote files: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `huggingface-cli login` or by passing `token=<your_token>`
Returning model without loading pretrained weights
INFO 2026-03-12 02:51:56 pi0_fast.py:329 Enabled gradient checkpointing for PI0FastPytorch model
Loading model from: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806
Could not load state dict from remote files: avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806 is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `huggingface-cli login` or by passing `token=<your_token>`
Returning model without loading pretrained weights
[rank4]: Traceback (most recent call last):
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
[rank4]: response.raise_for_status()
[rank4]: File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
[rank4]: raise HTTPError(http_error_msg, response=self)
[rank4]: requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json
[rank4]: The above exception was the direct cause of the following exception:
[rank4]: Traceback (most recent call last):
[rank4]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 654, in _load_config
[rank4]: config_path = hf_hub_download(
[rank4]: ^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank4]: return fn(*args, **kwargs)
[rank4]: ^^^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1010, in hf_hub_download
[rank4]: return _hf_hub_download_to_cache_dir(
[rank4]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1117, in _hf_hub_download_to_cache_dir
[rank4]: _raise_on_head_call_error(head_call_error, force_download, local_files_only)
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1658, in _raise_on_head_call_error
[rank4]: raise head_call_error
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1546, in _get_metadata_or_catch_error
[rank4]: metadata = get_hf_file_metadata(
[rank4]: ^^^^^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank4]: return fn(*args, **kwargs)
[rank4]: ^^^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1463, in get_hf_file_metadata
[rank4]: r = _request_wrapper(
[rank4]: ^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 286, in _request_wrapper
[rank4]: response = _request_wrapper(
[rank4]: ^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 310, in _request_wrapper
[rank4]: hf_raise_for_status(response)
[rank4]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
[rank4]: raise _format(RepositoryNotFoundError, message, response) from e
[rank4]: huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b22a4d-2a8536cb69e5de023bb889b0;2c40b48d-ad18-4b93-a7c5-921f74bc8c22)
[rank4]: Repository Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json.
[rank4]: Please make sure you specified the correct `repo_id` and `repo_type`.
[rank4]: If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
[rank4]: The above exception was the direct cause of the following exception:
[rank4]: Traceback (most recent call last):
[rank4]: File "/tmp/train_pi0fast.py", line 339, in <module>
[rank4]: main()
[rank4]: File "/tmp/train_pi0fast.py", line 335, in main
[rank4]: lerobot_main()
[rank4]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 547, in main
[rank4]: train()
[rank4]: File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
[rank4]: response = fn(cfg, *args, **kwargs)
[rank4]: ^^^^^^^^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 282, in train
[rank4]: preprocessor, postprocessor = make_pre_post_processors(
[rank4]: ^^^^^^^^^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 267, in make_pre_post_processors
[rank4]: PolicyProcessorPipeline.from_pretrained(
[rank4]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 567, in from_pretrained
[rank4]: loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
[rank4]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank4]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 665, in _load_config
[rank4]: raise FileNotFoundError(
[rank4]: FileNotFoundError: Could not find 'policy_preprocessor.json' on the HuggingFace Hub at 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806'
[rank7]: Traceback (most recent call last):
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
[rank7]: response.raise_for_status()
[rank7]: File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
[rank7]: raise HTTPError(http_error_msg, response=self)
[rank7]: requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json
[rank7]: The above exception was the direct cause of the following exception:
[rank7]: Traceback (most recent call last):
[rank7]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 654, in _load_config
[rank7]: config_path = hf_hub_download(
[rank7]: ^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank7]: return fn(*args, **kwargs)
[rank7]: ^^^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1010, in hf_hub_download
[rank7]: return _hf_hub_download_to_cache_dir(
[rank7]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1117, in _hf_hub_download_to_cache_dir
[rank7]: _raise_on_head_call_error(head_call_error, force_download, local_files_only)
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1658, in _raise_on_head_call_error
[rank7]: raise head_call_error
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1546, in _get_metadata_or_catch_error
[rank7]: metadata = get_hf_file_metadata(
[rank7]: ^^^^^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank7]: return fn(*args, **kwargs)
[rank7]: ^^^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1463, in get_hf_file_metadata
[rank7]: r = _request_wrapper(
[rank7]: ^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 286, in _request_wrapper
[rank7]: response = _request_wrapper(
[rank7]: ^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 310, in _request_wrapper
[rank7]: hf_raise_for_status(response)
[rank7]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
[rank7]: raise _format(RepositoryNotFoundError, message, response) from e
[rank7]: huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b22a4d-345b1eba08d248e623f191af;983c26df-09ce-4142-8659-e63f4e7e0d5c)
[rank7]: Repository Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json.
[rank7]: Please make sure you specified the correct `repo_id` and `repo_type`.
[rank7]: If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
[rank7]: The above exception was the direct cause of the following exception:
[rank7]: Traceback (most recent call last):
[rank7]: File "/tmp/train_pi0fast.py", line 339, in <module>
[rank7]: main()
[rank7]: File "/tmp/train_pi0fast.py", line 335, in main
[rank7]: lerobot_main()
[rank7]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 547, in main
[rank7]: train()
[rank7]: File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
[rank7]: response = fn(cfg, *args, **kwargs)
[rank7]: ^^^^^^^^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 282, in train
[rank7]: preprocessor, postprocessor = make_pre_post_processors(
[rank7]: ^^^^^^^^^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 267, in make_pre_post_processors
[rank7]: PolicyProcessorPipeline.from_pretrained(
[rank7]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 567, in from_pretrained
[rank7]: loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
[rank7]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank7]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 665, in _load_config
[rank7]: raise FileNotFoundError(
[rank7]: FileNotFoundError: Could not find 'policy_preprocessor.json' on the HuggingFace Hub at 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806'
[rank3]: Traceback (most recent call last):
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
[rank3]: response.raise_for_status()
[rank3]: File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
[rank3]: raise HTTPError(http_error_msg, response=self)
[rank3]: requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json
[rank3]: The above exception was the direct cause of the following exception:
[rank3]: Traceback (most recent call last):
[rank3]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 654, in _load_config
[rank3]: config_path = hf_hub_download(
[rank3]: ^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank3]: return fn(*args, **kwargs)
[rank3]: ^^^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1010, in hf_hub_download
[rank3]: return _hf_hub_download_to_cache_dir(
[rank3]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1117, in _hf_hub_download_to_cache_dir
[rank3]: _raise_on_head_call_error(head_call_error, force_download, local_files_only)
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1658, in _raise_on_head_call_error
[rank3]: raise head_call_error
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1546, in _get_metadata_or_catch_error
[rank3]: metadata = get_hf_file_metadata(
[rank3]: ^^^^^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank3]: return fn(*args, **kwargs)
[rank3]: ^^^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1463, in get_hf_file_metadata
[rank3]: r = _request_wrapper(
[rank3]: ^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 286, in _request_wrapper
[rank3]: response = _request_wrapper(
[rank3]: ^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 310, in _request_wrapper
[rank3]: hf_raise_for_status(response)
[rank3]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
[rank3]: raise _format(RepositoryNotFoundError, message, response) from e
[rank3]: huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b22a4d-52fd137b5303204b383023a9;d086a5ba-d844-417d-9eb0-11aa2f9c219a)
[rank3]: Repository Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json.
[rank3]: Please make sure you specified the correct `repo_id` and `repo_type`.
[rank3]: If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
[rank3]: The above exception was the direct cause of the following exception:
[rank3]: Traceback (most recent call last):
[rank3]: File "/tmp/train_pi0fast.py", line 339, in <module>
[rank3]: main()
[rank3]: File "/tmp/train_pi0fast.py", line 335, in main
[rank3]: lerobot_main()
[rank3]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 547, in main
[rank3]: train()
[rank3]: File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
[rank3]: response = fn(cfg, *args, **kwargs)
[rank3]: ^^^^^^^^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 282, in train
[rank3]: preprocessor, postprocessor = make_pre_post_processors(
[rank3]: ^^^^^^^^^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 267, in make_pre_post_processors
[rank3]: PolicyProcessorPipeline.from_pretrained(
[rank3]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 567, in from_pretrained
[rank3]: loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
[rank3]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank3]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 665, in _load_config
[rank3]: raise FileNotFoundError(
[rank3]: FileNotFoundError: Could not find 'policy_preprocessor.json' on the HuggingFace Hub at 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806'
[rank1]: Traceback (most recent call last):
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
[rank1]: response.raise_for_status()
[rank1]: File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
[rank1]: raise HTTPError(http_error_msg, response=self)
[rank1]: requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json
[rank1]: The above exception was the direct cause of the following exception:
[rank1]: Traceback (most recent call last):
[rank1]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 654, in _load_config
[rank1]: config_path = hf_hub_download(
[rank1]: ^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank1]: return fn(*args, **kwargs)
[rank1]: ^^^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1010, in hf_hub_download
[rank1]: return _hf_hub_download_to_cache_dir(
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1117, in _hf_hub_download_to_cache_dir
[rank1]: _raise_on_head_call_error(head_call_error, force_download, local_files_only)
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1658, in _raise_on_head_call_error
[rank1]: raise head_call_error
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1546, in _get_metadata_or_catch_error
[rank1]: metadata = get_hf_file_metadata(
[rank1]: ^^^^^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank1]: return fn(*args, **kwargs)
[rank1]: ^^^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1463, in get_hf_file_metadata
[rank1]: r = _request_wrapper(
[rank1]: ^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 286, in _request_wrapper
[rank1]: response = _request_wrapper(
[rank1]: ^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 310, in _request_wrapper
[rank1]: hf_raise_for_status(response)
[rank1]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
[rank1]: raise _format(RepositoryNotFoundError, message, response) from e
[rank1]: huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b22a4d-515c13d174edb19275641100;cc0f38f0-2b90-42b4-a55b-957f6af1303e)
[rank1]: Repository Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json.
[rank1]: Please make sure you specified the correct `repo_id` and `repo_type`.
[rank1]: If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
[rank1]: The above exception was the direct cause of the following exception:
[rank1]: Traceback (most recent call last):
[rank1]: File "/tmp/train_pi0fast.py", line 339, in <module>
[rank1]: main()
[rank1]: File "/tmp/train_pi0fast.py", line 335, in main
[rank1]: lerobot_main()
[rank1]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 547, in main
[rank1]: train()
[rank1]: File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
[rank1]: response = fn(cfg, *args, **kwargs)
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 282, in train
[rank1]: preprocessor, postprocessor = make_pre_post_processors(
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 267, in make_pre_post_processors
[rank1]: PolicyProcessorPipeline.from_pretrained(
[rank1]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 567, in from_pretrained
[rank1]: loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank1]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 665, in _load_config
[rank1]: raise FileNotFoundError(
[rank1]: FileNotFoundError: Could not find 'policy_preprocessor.json' on the HuggingFace Hub at 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806'
[rank0]: Traceback (most recent call last):
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
[rank0]: response.raise_for_status()
[rank0]: File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
[rank0]: raise HTTPError(http_error_msg, response=self)
[rank0]: requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json
[rank0]: The above exception was the direct cause of the following exception:
[rank0]: Traceback (most recent call last):
[rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 654, in _load_config
[rank0]: config_path = hf_hub_download(
[rank0]: ^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank0]: return fn(*args, **kwargs)
[rank0]: ^^^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1010, in hf_hub_download
[rank0]: return _hf_hub_download_to_cache_dir(
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1117, in _hf_hub_download_to_cache_dir
[rank0]: _raise_on_head_call_error(head_call_error, force_download, local_files_only)
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1658, in _raise_on_head_call_error
[rank0]: raise head_call_error
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1546, in _get_metadata_or_catch_error
[rank0]: metadata = get_hf_file_metadata(
[rank0]: ^^^^^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank0]: return fn(*args, **kwargs)
[rank0]: ^^^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1463, in get_hf_file_metadata
[rank0]: r = _request_wrapper(
[rank0]: ^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 286, in _request_wrapper
[rank0]: response = _request_wrapper(
[rank0]: ^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 310, in _request_wrapper
[rank0]: hf_raise_for_status(response)
[rank0]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
[rank0]: raise _format(RepositoryNotFoundError, message, response) from e
[rank0]: huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b22a4d-6a4564e45ec59d1c4bc45100;efb35a1c-7344-4d0d-913a-6ad1afd8d24e)
[rank0]: Repository Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json.
[rank0]: Please make sure you specified the correct `repo_id` and `repo_type`.
[rank0]: If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
[rank0]: The above exception was the direct cause of the following exception:
[rank0]: Traceback (most recent call last):
[rank0]: File "/tmp/train_pi0fast.py", line 339, in <module>
[rank0]: main()
[rank0]: File "/tmp/train_pi0fast.py", line 335, in main
[rank0]: lerobot_main()
[rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 547, in main
[rank0]: train()
[rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
[rank0]: response = fn(cfg, *args, **kwargs)
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 282, in train
[rank0]: preprocessor, postprocessor = make_pre_post_processors(
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 267, in make_pre_post_processors
[rank0]: PolicyProcessorPipeline.from_pretrained(
[rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 567, in from_pretrained
[rank0]: loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 665, in _load_config
[rank0]: raise FileNotFoundError(
[rank0]: FileNotFoundError: Could not find 'policy_preprocessor.json' on the HuggingFace Hub at 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806'
[rank2]: Traceback (most recent call last):
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
[rank2]: response.raise_for_status()
[rank2]: File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
[rank2]: raise HTTPError(http_error_msg, response=self)
[rank2]: requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json
[rank2]: The above exception was the direct cause of the following exception:
[rank2]: Traceback (most recent call last):
[rank2]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 654, in _load_config
[rank2]: config_path = hf_hub_download(
[rank2]: ^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank2]: return fn(*args, **kwargs)
[rank2]: ^^^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1010, in hf_hub_download
[rank2]: return _hf_hub_download_to_cache_dir(
[rank2]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1117, in _hf_hub_download_to_cache_dir
[rank2]: _raise_on_head_call_error(head_call_error, force_download, local_files_only)
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1658, in _raise_on_head_call_error
[rank2]: raise head_call_error
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1546, in _get_metadata_or_catch_error
[rank2]: metadata = get_hf_file_metadata(
[rank2]: ^^^^^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank2]: return fn(*args, **kwargs)
[rank2]: ^^^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1463, in get_hf_file_metadata
[rank2]: r = _request_wrapper(
[rank2]: ^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 286, in _request_wrapper
[rank2]: response = _request_wrapper(
[rank2]: ^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 310, in _request_wrapper
[rank2]: hf_raise_for_status(response)
[rank2]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
[rank2]: raise _format(RepositoryNotFoundError, message, response) from e
[rank2]: huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b22a4d-625c276039c24e233e250dc9;65beacdd-841e-41eb-b742-e6eb2e1fd43b)
[rank2]: Repository Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json.
[rank2]: Please make sure you specified the correct `repo_id` and `repo_type`.
[rank2]: If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
[rank2]: The above exception was the direct cause of the following exception:
[rank2]: Traceback (most recent call last):
[rank2]: File "/tmp/train_pi0fast.py", line 339, in <module>
[rank2]: main()
[rank2]: File "/tmp/train_pi0fast.py", line 335, in main
[rank2]: lerobot_main()
[rank2]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 547, in main
[rank2]: train()
[rank2]: File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
[rank2]: response = fn(cfg, *args, **kwargs)
[rank2]: ^^^^^^^^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 282, in train
[rank2]: preprocessor, postprocessor = make_pre_post_processors(
[rank2]: ^^^^^^^^^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 267, in make_pre_post_processors
[rank2]: PolicyProcessorPipeline.from_pretrained(
[rank2]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 567, in from_pretrained
[rank2]: loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
[rank2]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank2]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 665, in _load_config
[rank2]: raise FileNotFoundError(
[rank2]: FileNotFoundError: Could not find 'policy_preprocessor.json' on the HuggingFace Hub at 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806'
[rank6]: Traceback (most recent call last):
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
[rank6]: response.raise_for_status()
[rank6]: File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
[rank6]: raise HTTPError(http_error_msg, response=self)
[rank6]: requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json
[rank6]: The above exception was the direct cause of the following exception:
[rank6]: Traceback (most recent call last):
[rank6]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 654, in _load_config
[rank6]: config_path = hf_hub_download(
[rank6]: ^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank6]: return fn(*args, **kwargs)
[rank6]: ^^^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1010, in hf_hub_download
[rank6]: return _hf_hub_download_to_cache_dir(
[rank6]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1117, in _hf_hub_download_to_cache_dir
[rank6]: _raise_on_head_call_error(head_call_error, force_download, local_files_only)
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1658, in _raise_on_head_call_error
[rank6]: raise head_call_error
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1546, in _get_metadata_or_catch_error
[rank6]: metadata = get_hf_file_metadata(
[rank6]: ^^^^^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank6]: return fn(*args, **kwargs)
[rank6]: ^^^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1463, in get_hf_file_metadata
[rank6]: r = _request_wrapper(
[rank6]: ^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 286, in _request_wrapper
[rank6]: response = _request_wrapper(
[rank6]: ^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 310, in _request_wrapper
[rank6]: hf_raise_for_status(response)
[rank6]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
[rank6]: raise _format(RepositoryNotFoundError, message, response) from e
[rank6]: huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b22a4d-1c0fd1257103e56d06e15abf;ffff775a-d879-49f2-8834-ca2391178933)
[rank6]: Repository Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json.
[rank6]: Please make sure you specified the correct `repo_id` and `repo_type`.
[rank6]: If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
[rank6]: The above exception was the direct cause of the following exception:
[rank6]: Traceback (most recent call last):
[rank6]: File "/tmp/train_pi0fast.py", line 339, in <module>
[rank6]: main()
[rank6]: File "/tmp/train_pi0fast.py", line 335, in main
[rank6]: lerobot_main()
[rank6]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 547, in main
[rank6]: train()
[rank6]: File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
[rank6]: response = fn(cfg, *args, **kwargs)
[rank6]: ^^^^^^^^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 282, in train
[rank6]: preprocessor, postprocessor = make_pre_post_processors(
[rank6]: ^^^^^^^^^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 267, in make_pre_post_processors
[rank6]: PolicyProcessorPipeline.from_pretrained(
[rank6]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 567, in from_pretrained
[rank6]: loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
[rank6]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank6]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 665, in _load_config
[rank6]: raise FileNotFoundError(
[rank6]: FileNotFoundError: Could not find 'policy_preprocessor.json' on the HuggingFace Hub at 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806'
[rank5]: Traceback (most recent call last):
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
[rank5]: response.raise_for_status()
[rank5]: File "/usr/local/lib/python3.11/dist-packages/requests/models.py", line 1024, in raise_for_status
[rank5]: raise HTTPError(http_error_msg, response=self)
[rank5]: requests.exceptions.HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json
[rank5]: The above exception was the direct cause of the following exception:
[rank5]: Traceback (most recent call last):
[rank5]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 654, in _load_config
[rank5]: config_path = hf_hub_download(
[rank5]: ^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank5]: return fn(*args, **kwargs)
[rank5]: ^^^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1010, in hf_hub_download
[rank5]: return _hf_hub_download_to_cache_dir(
[rank5]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1117, in _hf_hub_download_to_cache_dir
[rank5]: _raise_on_head_call_error(head_call_error, force_download, local_files_only)
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1658, in _raise_on_head_call_error
[rank5]: raise head_call_error
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1546, in _get_metadata_or_catch_error
[rank5]: metadata = get_hf_file_metadata(
[rank5]: ^^^^^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
[rank5]: return fn(*args, **kwargs)
[rank5]: ^^^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1463, in get_hf_file_metadata
[rank5]: r = _request_wrapper(
[rank5]: ^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 286, in _request_wrapper
[rank5]: response = _request_wrapper(
[rank5]: ^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 310, in _request_wrapper
[rank5]: hf_raise_for_status(response)
[rank5]: File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
[rank5]: raise _format(RepositoryNotFoundError, message, response) from e
[rank5]: huggingface_hub.errors.RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-69b22a4d-281d5a0f671c714a3e7c5f44;ea614445-d9a5-465b-a621-686a3ebc6446)
[rank5]: Repository Not Found for url: https://huggingface.co/avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806/resolve/main/policy_preprocessor.json.
[rank5]: Please make sure you specified the correct `repo_id` and `repo_type`.
[rank5]: If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
[rank5]: The above exception was the direct cause of the following exception:
[rank5]: Traceback (most recent call last):
[rank5]: File "/tmp/train_pi0fast.py", line 339, in <module>
[rank5]: main()
[rank5]: File "/tmp/train_pi0fast.py", line 335, in main
[rank5]: lerobot_main()
[rank5]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 547, in main
[rank5]: train()
[rank5]: File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
[rank5]: response = fn(cfg, *args, **kwargs)
[rank5]: ^^^^^^^^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 282, in train
[rank5]: preprocessor, postprocessor = make_pre_post_processors(
[rank5]: ^^^^^^^^^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 267, in make_pre_post_processors
[rank5]: PolicyProcessorPipeline.from_pretrained(
[rank5]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 567, in from_pretrained
[rank5]: loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
[rank5]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank5]: File "/usr/local/lib/python3.11/dist-packages/lerobot/processor/pipeline.py", line 665, in _load_config
[rank5]: raise FileNotFoundError(
[rank5]: FileNotFoundError: Could not find 'policy_preprocessor.json' on the HuggingFace Hub at 'avatarrobotics/pi0fast-orange-hook-right-b64-20260310-1806'
[rank0]:[W312 02:51:58.886953621 ProcessGroupNCCL.cpp:1479] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator())
W0312 02:52:01.456000 2279 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2347 closing signal SIGTERM
W0312 02:52:01.457000 2279 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2348 closing signal SIGTERM
W0312 02:52:01.458000 2279 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2349 closing signal SIGTERM
W0312 02:52:01.458000 2279 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2350 closing signal SIGTERM
W0312 02:52:01.458000 2279 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2352 closing signal SIGTERM
W0312 02:52:01.459000 2279 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2353 closing signal SIGTERM
W0312 02:52:01.459000 2279 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2354 closing signal SIGTERM
E0312 02:52:05.097000 2279 torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 4 (pid: 2351) of binary: /usr/bin/python
Traceback (most recent call last):
File "/usr/local/bin/accelerate", line 8, in <module>
sys.exit(main())
^^^^^^
File "/usr/local/lib/python3.11/dist-packages/accelerate/commands/accelerate_cli.py", line 50, in main
args.func(args)
File "/usr/local/lib/python3.11/dist-packages/accelerate/commands/launch.py", line 1396, in launch_command
multi_gpu_launcher(args)
File "/usr/local/lib/python3.11/dist-packages/accelerate/commands/launch.py", line 1023, in multi_gpu_launcher
distrib_run.run(args)
File "/usr/local/lib/python3.11/dist-packages/torch/distributed/run.py", line 883, in run
elastic_launch(
File "/usr/local/lib/python3.11/dist-packages/torch/distributed/launcher/api.py", line 139, in __call__
return launch_agent(self._config, self._entrypoint, list(args))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.11/dist-packages/torch/distributed/launcher/api.py", line 270, in launch_agent
raise ChildFailedError(
torch.distributed.elastic.multiprocessing.errors.ChildFailedError:
============================================================
/tmp/train_pi0fast.py FAILED
------------------------------------------------------------
Failures:
<NO_OTHER_FAILURES>
------------------------------------------------------------
Root Cause (first observed failure):
[0]:
time : 2026-03-12_02:52:01
host : 3fb95dc60b0c
rank : 4 (local_rank: 4)
exitcode : 1 (pid: 2351)
error_file: <N/A>
traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
============================================================
>>> Training finished with exit code 1
Ended: 2026-03-12 02:52:05 UTC
>>> Saving training log to HuggingFace...
|