training_20260313_062132_exit1.log

=== Avatar Training (fire-and-forget) ===
Script: train_on_hf.py
Started: 2026-03-13 06:19:14 UTC

>>> [0/4] Raising file descriptor limit...
  ulimit -n = 65536
>>> [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.
⚠️  Warning: 'huggingface-cli login' is deprecated. Use 'hf auth login' instead.
>>> [3/4] Pre-downloading pretrained model...
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 106, in _inner_fn
    validate_repo_id(arg_value)
  File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
    raise HFValidationError(
huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.
  Downloading avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000...
  GPUs: 8x NVIDIA H100 80GB HBM3
>>> [4/4] Launching accelerate with 8 GPUs...
  Script: train_on_hf.py
  Train args: --dataset alpha_bot_right_afternoon --steps 100000 --batch-size 32 --lr 1e-4 --backbone resnet18 --preload --mixed-precision bf16 --num-workers 8 --prefetch-factor 4 --save-freq 10000 --push-to-hub --pretrained-path avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 

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`.
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619
[Avatar] Mixed precision: bf16

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  backbone=resnet18
lerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619
[Avatar] Mixed precision: bf16

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  backbone=resnet18
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619lerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 \
  --policy.push_to_hub=true \
  --policy.private=true

============================================================

[Avatar] Mixed precision: bf16

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  backbone=resnet18
lerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619

[Avatar] Mixed precision: bf16[Avatar] Mixed precision: bf16


============================================================
============================================================

Training args:Training args:

  mixed_precision=bf16  mixed_precision=bf16

  video_backend=pyav  video_backend=pyav

  prefetch_factor=4  prefetch_factor=4

  preload=True  preload=True

  compile=False  compile=False

  backbone=resnet18  backbone=resnet18

lerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 \
  --policy.push_to_hub=true \
  --policy.private=truelerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 \
  --policy.push_to_hub=true \
  --policy.private=true

============================================================
============================================================


Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619
[Avatar] Mixed precision: bf16

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  backbone=resnet18
lerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619
[Avatar] Mixed precision: bf16

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  backbone=resnet18
lerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Mixed precision: bf16

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  backbone=resnet18
lerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
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 2026-03-13 06:19:31 ot_train.py:195 {'batch_size': 32,
 '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': 'avatarrobotics/alpha-bot-right-2026-03-11-afternoon',
             'revision': None,
             'root': None,
             'streaming': False,
             'use_imagenet_stats': True,
             'video_backend': 'pyav'},
 'env': None,
 'eval': {'batch_size': 50, 'n_episodes': 50, 'use_async_envs': False},
 'eval_freq': 20000,
 'job_name': 'act',
 'log_freq': 200,
 'num_workers': 8,
 'optimizer': {'betas': [0.9, 0.999],
               'eps': 1e-08,
               'grad_clip_norm': 10.0,
               'lr': 0.0001,
               'type': 'adamw',
               'weight_decay': 0.0001},
 'output_dir': 'outputs/train/act-vacuum-pick',
 'peft': None,
 'policy': {'chunk_size': 100,
            'device': 'cuda',
            'dim_feedforward': 3200,
            'dim_model': 512,
            'dropout': 0.1,
            'feedforward_activation': 'relu',
            'input_features': {},
            'kl_weight': 10.0,
            'latent_dim': 32,
            'license': None,
            'n_action_steps': 100,
            'n_decoder_layers': 1,
            'n_encoder_layers': 4,
            'n_heads': 8,
            'n_obs_steps': 1,
            'n_vae_encoder_layers': 4,
            'normalization_mapping': {'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
                                      'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
                                      'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>},
            'optimizer_lr': 0.0001,
            'optimizer_lr_backbone': 0.0001,
            'optimizer_weight_decay': 0.0001,
            'output_features': {},
            'pre_norm': False,
            'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1',
            'pretrained_path': 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000',
            'private': True,
            'push_to_hub': True,
            'replace_final_stride_with_dilation': False,
            'repo_id': 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0619',
            'tags': None,
            'temporal_ensemble_coeff': None,
            'type': 'act',
            'use_amp': False,
            'use_peft': False,
            'use_vae': True,
            'vision_backbone': 'resnet18'},
 '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': 10000,
 'scheduler': None,
 'seed': 1000,
 'steps': 100000,
 'tolerance_s': 0.0001,
 '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 2026-03-13 06:19:31 ot_train.py:203 Logs will be saved locally.
INFO 2026-03-13 06:19:31 ot_train.py:215 Creating dataset

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[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Using /dev/shm (RAM-backed, 938GB free)
[Avatar] Pre-decoding videos to JPEG: /dev/shm/avatar_frames
  Extracting 938 videos with ffmpeg...
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  Done: 938/938 videos OK, 270,246 JPEGs, 18.8GB, 38s
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Preload complete (40s total)
[Avatar] Rank 0: signaled 7 other ranks
[Avatar] Installed corrupt-frame retry handler
NCCL version 2.26.2+cuda12.2
INFO 2026-03-13 06:21:29 ot_train.py:233 Creating policy
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 3: waiting for preload...
[Avatar] Rank 3: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
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[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 5: waiting for preload...
[Avatar] Rank 5: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 4: waiting for preload...
[Avatar] Rank 4: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 2: waiting for preload...
[Avatar] Rank 2: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
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[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 1: waiting for preload...
[Avatar] Rank 1: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
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[Avatar] Rank 6: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 7: waiting for preload...
[Avatar] Rank 7: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth
Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth
Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth

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Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth

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 49%|████▉     | 21.9M/44.7M [00:00<00:00, 86.7MB/s][rank0]: Traceback (most recent call last):
[rank0]:   File "/tmp/train_on_hf.py", line 738, in <module>
[rank0]:     main()
[rank0]:   File "/tmp/train_on_hf.py", line 734, in main
[rank0]:     lerobot_main()
[rank0]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, 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 234, in train
[rank0]:     policy = make_policy(
[rank0]:              ^^^^^^^^^^^^
[rank0]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 492, in make_policy
[rank0]:     policy = policy_cls.from_pretrained(**kwargs)
[rank0]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank0]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/pretrained.py", line 115, in from_pretrained
[rank0]:     model_file = hf_hub_download(
[rank0]:                  ^^^^^^^^^^^^^^^^
[rank0]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
[rank0]:     validate_repo_id(arg_value)
[rank0]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
[rank0]:     raise HFValidationError(
[rank0]: huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.

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 68%|██████▊   | 30.5M/44.7M [00:00<00:00, 113MB/s] [rank3]: Traceback (most recent call last):
[rank3]:   File "/tmp/train_on_hf.py", line 738, in <module>
[rank3]:     main()
[rank3]:   File "/tmp/train_on_hf.py", line 734, in main
[rank3]:     lerobot_main()
[rank3]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, 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 234, in train
[rank3]:     policy = make_policy(
[rank3]:              ^^^^^^^^^^^^
[rank3]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 492, in make_policy
[rank3]:     policy = policy_cls.from_pretrained(**kwargs)
[rank3]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank3]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/pretrained.py", line 115, in from_pretrained
[rank3]:     model_file = hf_hub_download(
[rank3]:                  ^^^^^^^^^^^^^^^^
[rank3]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
[rank3]:     validate_repo_id(arg_value)
[rank3]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
[rank3]:     raise HFValidationError(
[rank3]: huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.

100%|██████████| 44.7M/44.7M [00:00<00:00, 116MB/s] 

100%|██████████| 44.7M/44.7M [00:00<00:00, 103MB/s]
[rank4]: Traceback (most recent call last):
[rank4]:   File "/tmp/train_on_hf.py", line 738, in <module>
[rank4]:     main()
[rank4]:   File "/tmp/train_on_hf.py", line 734, in main
[rank4]:     lerobot_main()
[rank4]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, 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 234, in train
[rank4]:     policy = make_policy(
[rank4]:              ^^^^^^^^^^^^
[rank4]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 492, in make_policy
[rank4]:     policy = policy_cls.from_pretrained(**kwargs)
[rank4]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank4]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/pretrained.py", line 115, in from_pretrained
[rank4]:     model_file = hf_hub_download(
[rank4]:                  ^^^^^^^^^^^^^^^^
[rank4]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
[rank4]:     validate_repo_id(arg_value)
[rank4]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
[rank4]:     raise HFValidationError(
[rank4]: huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.
[rank5]: Traceback (most recent call last):
[rank5]:   File "/tmp/train_on_hf.py", line 738, in <module>
[rank5]:     main()
[rank5]:   File "/tmp/train_on_hf.py", line 734, in main
[rank5]:     lerobot_main()
[rank5]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, 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 234, in train
[rank5]:     policy = make_policy(
[rank5]:              ^^^^^^^^^^^^
[rank5]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 492, in make_policy
[rank5]:     policy = policy_cls.from_pretrained(**kwargs)
[rank5]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank5]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/pretrained.py", line 115, in from_pretrained
[rank5]:     model_file = hf_hub_download(
[rank5]:                  ^^^^^^^^^^^^^^^^
[rank5]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
[rank5]:     validate_repo_id(arg_value)
[rank5]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
[rank5]:     raise HFValidationError(
[rank5]: huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.
[rank2]: Traceback (most recent call last):
[rank2]:   File "/tmp/train_on_hf.py", line 738, in <module>
[rank2]:     main()
[rank2]:   File "/tmp/train_on_hf.py", line 734, in main
[rank2]:     lerobot_main()
[rank2]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, 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 234, in train
[rank2]:     policy = make_policy(
[rank2]:              ^^^^^^^^^^^^
[rank2]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 492, in make_policy
[rank2]:     policy = policy_cls.from_pretrained(**kwargs)
[rank2]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank2]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/pretrained.py", line 115, in from_pretrained
[rank2]:     model_file = hf_hub_download(
[rank2]:                  ^^^^^^^^^^^^^^^^
[rank2]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
[rank2]:     validate_repo_id(arg_value)
[rank2]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
[rank2]:     raise HFValidationError(
[rank2]: huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.
[rank0]:[W313 06:21:30.094734046 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())
[rank1]: Traceback (most recent call last):
[rank1]:   File "/tmp/train_on_hf.py", line 738, in <module>
[rank1]:     main()
[rank1]:   File "/tmp/train_on_hf.py", line 734, in main
[rank1]:     lerobot_main()
[rank1]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, 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 234, in train
[rank1]:     policy = make_policy(
[rank1]:              ^^^^^^^^^^^^
[rank1]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 492, in make_policy
[rank1]:     policy = policy_cls.from_pretrained(**kwargs)
[rank1]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank1]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/pretrained.py", line 115, in from_pretrained
[rank1]:     model_file = hf_hub_download(
[rank1]:                  ^^^^^^^^^^^^^^^^
[rank1]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
[rank1]:     validate_repo_id(arg_value)
[rank1]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
[rank1]:     raise HFValidationError(
[rank1]: huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.
[rank7]: Traceback (most recent call last):
[rank7]:   File "/tmp/train_on_hf.py", line 738, in <module>
[rank7]:     main()
[rank7]:   File "/tmp/train_on_hf.py", line 734, in main
[rank7]:     lerobot_main()
[rank7]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, 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 234, in train
[rank7]:     policy = make_policy(
[rank7]:              ^^^^^^^^^^^^
[rank7]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 492, in make_policy
[rank7]:     policy = policy_cls.from_pretrained(**kwargs)
[rank7]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank7]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/pretrained.py", line 115, in from_pretrained
[rank7]:     model_file = hf_hub_download(
[rank7]:                  ^^^^^^^^^^^^^^^^
[rank7]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
[rank7]:     validate_repo_id(arg_value)
[rank7]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
[rank7]:     raise HFValidationError(
[rank7]: huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.
[rank6]: Traceback (most recent call last):
[rank6]:   File "/tmp/train_on_hf.py", line 738, in <module>
[rank6]:     main()
[rank6]:   File "/tmp/train_on_hf.py", line 734, in main
[rank6]:     lerobot_main()
[rank6]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, 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 234, in train
[rank6]:     policy = make_policy(
[rank6]:              ^^^^^^^^^^^^
[rank6]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/factory.py", line 492, in make_policy
[rank6]:     policy = policy_cls.from_pretrained(**kwargs)
[rank6]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[rank6]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/pretrained.py", line 115, in from_pretrained
[rank6]:     model_file = hf_hub_download(
[rank6]:                  ^^^^^^^^^^^^^^^^
[rank6]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
[rank6]:     validate_repo_id(arg_value)
[rank6]:   File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
[rank6]:     raise HFValidationError(
[rank6]: huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.
W0313 06:21:31.623000 2075 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2144 closing signal SIGTERM
W0313 06:21:31.624000 2075 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2145 closing signal SIGTERM
W0313 06:21:31.624000 2075 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2146 closing signal SIGTERM
W0313 06:21:31.624000 2075 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2147 closing signal SIGTERM
W0313 06:21:31.624000 2075 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2148 closing signal SIGTERM
W0313 06:21:31.624000 2075 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2149 closing signal SIGTERM
W0313 06:21:31.624000 2075 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2150 closing signal SIGTERM
E0313 06:21:32.489000 2075 torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 0 (pid: 2143) 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_on_hf.py FAILED
------------------------------------------------------------
Failures:
  <NO_OTHER_FAILURES>
------------------------------------------------------------
Root Cause (first observed failure):
[0]:
  time      : 2026-03-13_06:21:31
  host      : 8e147e544286
  rank      : 0 (local_rank: 0)
  exitcode  : 1 (pid: 2143)
  error_file: <N/A>
  traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
============================================================

>>> Training finished with exit code 1
Ended: 2026-03-13 06:21:32 UTC
>>> Saving training log to HuggingFace...