=== Avatar Training (fire-and-forget) ===
Script: train_on_hf.py
Started: 2026-03-13 06:27:50 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-b256-20260313-0627
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627

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

Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627
[Avatar] Mixed precision: bf16
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...

[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...

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[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...

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[Avatar] Checkpoint saved to /root/outputs/train/act-vacuum-pick/pretrained_checkpoint

============================================================
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-b256-20260313-0627 \
  --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=/root/outputs/train/act-vacuum-pick/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] cudnn.benchmark=True, tf32=True

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[Avatar] Checkpoint saved to /root/outputs/train/act-vacuum-pick/pretrained_checkpoint

============================================================
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-b256-20260313-0627 \
  --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=/root/outputs/train/act-vacuum-pick/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627 (with per-step tags)
[Avatar] Overriding prefetch_factor=4

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[Avatar] Checkpoint saved to /root/outputs/train/act-vacuum-pick/pretrained_checkpoint

============================================================
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-b256-20260313-0627 \
  --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=/root/outputs/train/act-vacuum-pick/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] cudnn.benchmark=True, tf32=True

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[Avatar] Checkpoint saved to /root/outputs/train/act-vacuum-pick/pretrained_checkpoint

============================================================
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-b256-20260313-0627 \
  --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=/root/outputs/train/act-vacuum-pick/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0627 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] cudnn.benchmark=True, tf32=True
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
Traceback (most recent call last):
  File "/tmp/train_on_hf.py", line 748, in <module>
    main()
  File "/tmp/train_on_hf.py", line 744, in main
    lerobot_main()
  File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, in main
    train()
  File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
    response = fn(cfg, *args, **kwargs)
               ^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 168, in train
    cfg.validate()
  File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/train.py", line 120, in validate
    raise FileExistsError(
FileExistsError: Output directory outputs/train/act-vacuum-pick already exists and resume is False. Please change your output directory so that outputs/train/act-vacuum-pick is not overwritten.
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
Traceback (most recent call last):
  File "/tmp/train_on_hf.py", line 748, in <module>
    main()
  File "/tmp/train_on_hf.py", line 744, in main
    lerobot_main()
  File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 532, in main
    train()
  File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
    response = fn(cfg, *args, **kwargs)
               ^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/lib/python3.11/dist-packages/lerobot/scripts/lerobot_train.py", line 168, in train
    cfg.validate()
  File "/usr/local/lib/python3.11/dist-packages/lerobot/configs/train.py", line 120, in validate
    raise FileExistsError(
FileExistsError: Output directory outputs/train/act-vacuum-pick already exists and resume is False. Please change your output directory so that outputs/train/act-vacuum-pick is not overwritten.
W0313 06:28:17.014000 2076 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2144 closing signal SIGTERM
W0313 06:28:17.014000 2076 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2145 closing signal SIGTERM
W0313 06:28:17.015000 2076 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2146 closing signal SIGTERM
W0313 06:28:17.015000 2076 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2147 closing signal SIGTERM
W0313 06:28:17.015000 2076 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2148 closing signal SIGTERM
W0313 06:28:17.016000 2076 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2149 closing signal SIGTERM
W0313 06:28:17.016000 2076 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2150 closing signal SIGTERM
E0313 06:28:17.368000 2076 torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 7 (pid: 2151) 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_06:28:17
  host      : 584a54fcb176
  rank      : 7 (local_rank: 7)
  exitcode  : 1 (pid: 2151)
  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 06:28:17 UTC
>>> Saving training log to HuggingFace...