=== Avatar Training (8x H100) === Started: 2026-03-22 05:44:18 UTC >>> [0/4] Raising file descriptor limit... ulimit -n = 65536 >>> [1/4] Setting environment... HF_TOKEN set: 37 chars >>> [2/4] Pre-downloading pretrained model... Downloading avatarrobotics/pi0fast-alpha-bot-right-b2-20260320-0822 @ step-180000... Fetching 9 files: 0%| | 0/9 [00:00>> [2.5/4] Checking GPUs... GPUs: 8x NVIDIA H100 80GB HBM3 >>> [3/4] Pre-downloading dataset (single process)... Downloading avatarrobotics/alpha-bot-right-combined... Fetching 12927 files: 0%| | 0/12927 [00:00", line 7, in 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 332, in snapshot_download thread_map( File "/usr/local/lib/python3.11/dist-packages/tqdm/contrib/concurrent.py", line 69, in thread_map return _executor_map(ThreadPoolExecutor, fn, *iterables, **tqdm_kwargs) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/lib/python3.11/dist-packages/tqdm/contrib/concurrent.py", line 51, in _executor_map return list(tqdm_class(ex.map(fn, *iterables, chunksize=chunksize), **kwargs)) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/lib/python3.11/dist-packages/tqdm/std.py", line 1181, in __iter__ for obj in iterable: File "/usr/lib/python3.11/concurrent/futures/_base.py", line 619, in result_iterator yield _result_or_cancel(fs.pop()) ^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/lib/python3.11/concurrent/futures/_base.py", line 317, in _result_or_cancel return fut.result(timeout) ^^^^^^^^^^^^^^^^^^^ File "/usr/lib/python3.11/concurrent/futures/_base.py", line 449, in result return self.__get_result() ^^^^^^^^^^^^^^^^^^^ File "/usr/lib/python3.11/concurrent/futures/_base.py", line 401, in __get_result raise self._exception File "/usr/lib/python3.11/concurrent/futures/thread.py", line 58, in run result = self.fn(*self.args, **self.kwargs) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/_snapshot_download.py", line 306, in _inner_hf_hub_download return hf_hub_download( ^^^^^^^^^^^^^^^^ 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/file_download.py", line 1010, in hf_hub_download return _hf_hub_download_to_cache_dir( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1171, in _hf_hub_download_to_cache_dir _download_to_tmp_and_move( File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 1723, in _download_to_tmp_and_move xet_get( File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/file_download.py", line 629, in xet_get download_files( RuntimeError: Data processing error: File reconstruction error: IO Error: No space left on device (os error 28) /tmp/run_training.sh: line 49: 558 Segmentation fault (core dumped) python3 -c " import sys, os from pathlib import Path repo_id = 'avatarrobotics/alpha-bot-right-combined' print(f' Downloading {repo_id}...') from huggingface_hub import snapshot_download hub_path = snapshot_download(repo_id, repo_type='dataset') print(f' Hub cache: {hub_path}') lerobot_home = Path.home() / '.cache' / 'huggingface' / 'lerobot' lerobot_ds = lerobot_home / repo_id lerobot_ds.parent.mkdir(parents=True, exist_ok=True) import shutil if lerobot_ds.is_symlink(): os.remove(str(lerobot_ds)) elif lerobot_ds.is_dir(): shutil.rmtree(str(lerobot_ds)) os.symlink(hub_path, str(lerobot_ds)) print(f' Linked to lerobot cache: {lerobot_ds}') info = lerobot_ds / 'meta' / 'info.json' assert info.exists(), f'FAIL: {info} not found' print(f' Verified: {info} exists') " 2>&1 >>> [4/4] Launching accelerate with 8 GPUs... 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: avatarrobotics/alpha-bot-right-combined Pretrained: /tmp/pretrained_checkpoint Model repo: avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 Steps: 36000 Batch/GPU: 8 (eff: 64) Chunk size: 10 LR: 5e-05 Save freq: 5000 GPUs: 8 ============================================================ lerobot_train \ --dataset.repo_id=avatarrobotics/alpha-bot-right-combined \ --policy.type=pi0_fast \ --policy.pretrained_path=/tmp/pretrained_checkpoint \ --policy.repo_id=avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 \ --policy.dtype=bfloat16 \ --policy.gradient_checkpointing=true \ --policy.chunk_size=10 \ --policy.n_action_steps=10 \ --policy.max_action_tokens=256 \ --policy.optimizer_lr=5e-05 \ --policy.optimizer_weight_decay=0.01 \ --policy.scheduler_warmup_steps=100 \ --policy.scheduler_decay_steps=36000 \ --policy.scheduler_decay_lr=1e-6 \ --batch_size=8 \ --steps=36000 \ --save_freq=5000 \ --log_freq=100 \ --save_checkpoint=true \ --seed=1000 \ --num_workers=4 \ --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-alpha-bot-right-b64-20260322-0603 (with per-step tags) [Avatar] Dataset task text patched (multi-task from tasks.json) [Avatar] Dataset timestamp tolerance set to 2.0s [Avatar] Installed corrupt-frame retry handler [Avatar] Patched resize_with_pad_torch -> center_crop_resize (no padding waste) [Avatar] Forced video_backend='pyav' (CPU-safe) [Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 (with per-step tags) [Avatar] Dataset task text patched (multi-task from tasks.json) [Avatar] Dataset timestamp tolerance set to 2.0s [Avatar] Installed corrupt-frame retry handler [Avatar] Patched resize_with_pad_torch -> center_crop_resize (no padding waste) [Avatar] Forced video_backend='pyav' (CPU-safe) [Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 (with per-step tags) [Avatar] Dataset task text patched (multi-task from tasks.json) [Avatar] Dataset timestamp tolerance set to 2.0s [Avatar] Installed corrupt-frame retry handler [Avatar] Patched resize_with_pad_torch -> center_crop_resize (no padding waste) [Avatar] Forced video_backend='pyav' (CPU-safe) [Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 (with per-step tags) [Avatar] Dataset task text patched (multi-task from tasks.json) [Avatar] Dataset timestamp tolerance set to 2.0s [Avatar] Installed corrupt-frame retry handler [Avatar] Patched resize_with_pad_torch -> center_crop_resize (no padding waste) [Avatar] Forced video_backend='pyav' (CPU-safe) [Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 (with per-step tags) [Avatar] Dataset task text patched (multi-task from tasks.json) [Avatar] Dataset timestamp tolerance set to 2.0s [Avatar] Installed corrupt-frame retry handler [Avatar] Patched resize_with_pad_torch -> center_crop_resize (no padding waste) [Avatar] Forced video_backend='pyav' (CPU-safe) [Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 (with per-step tags) [Avatar] Dataset task text patched (multi-task from tasks.json) [Avatar] Dataset timestamp tolerance set to 2.0s [Avatar] Installed corrupt-frame retry handler [Avatar] Patched resize_with_pad_torch -> center_crop_resize (no padding waste) [Avatar] Forced video_backend='pyav' (CPU-safe) [Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 (with per-step tags) [Avatar] Dataset task text patched (multi-task from tasks.json) [Avatar] Dataset timestamp tolerance set to 2.0s [Avatar] Installed corrupt-frame retry handler [Avatar] Patched resize_with_pad_torch -> center_crop_resize (no padding waste) [Avatar] Forced video_backend='pyav' (CPU-safe) [Avatar] Dataset pre-downloaded by launcher script [Avatar] Checkpoint push enabled → avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603 (with per-step tags) [Avatar] Dataset task text patched (multi-task from tasks.json) [Avatar] Dataset timestamp tolerance set to 2.0s [Avatar] Installed corrupt-frame retry handler [Avatar] Patched resize_with_pad_torch -> center_crop_resize (no padding waste) [Avatar] Forced video_backend='pyav' (CPU-safe) 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 2026-03-22 06:03:35 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': 'avatarrobotics/alpha-bot-right-combined', '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': 4, 'optimizer': {'betas': [0.9, 0.95], 'eps': 1e-08, 'grad_clip_norm': 1.0, 'lr': 5e-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': , 'STATE': , 'VISUAL': }, 'optimizer_betas': [0.9, 0.95], 'optimizer_eps': 1e-08, 'optimizer_grad_clip_norm': 1.0, 'optimizer_lr': 5e-05, 'optimizer_weight_decay': 0.01, 'output_features': {}, 'paligemma_variant': 'gemma_2b', 'pretrained_path': '/tmp/pretrained_checkpoint', 'private': True, 'push_to_hub': True, 'repo_id': 'avatarrobotics/pi0fast-alpha-bot-right-b64-20260322-0603', 'rtc_config': None, 'scheduler_decay_lr': 1e-06, 'scheduler_decay_steps': 36000, 'scheduler_warmup_steps': 100, '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': 36000, 'num_warmup_steps': 100, 'peak_lr': 5e-05, 'type': 'cosine_decay_with_warmup'}, 'seed': 1000, 'steps': 36000, '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 2026-03-22 06:03:35 ot_train.py:205 Logs will be saved locally. INFO 2026-03-22 06:03:35 ot_train.py:217 Creating dataset Fetching 6 files: 0%| | 0/6 [00:00 [rank0]: main() [rank0]: File "/tmp/train_pi0fast.py", line 480, 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 218, in train [rank0]: dataset = make_dataset(cfg) [rank0]: ^^^^^^^^^^^^^^^^^ [rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/factory.py", line 88, in make_dataset [rank0]: ds_meta = LeRobotDatasetMetadata( [rank0]: ^^^^^^^^^^^^^^^^^^^^^^^ [rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/lerobot_dataset.py", line 113, in __init__ [rank0]: self.load_metadata() [rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/lerobot_dataset.py", line 168, in load_metadata [rank0]: self.episodes = load_episodes(self.root) [rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^ [rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/utils.py", line 378, in load_episodes [rank0]: episodes = load_nested_dataset(local_dir / EPISODES_DIR) [rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ [rank0]: File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/utils.py", line 127, in load_nested_dataset [rank0]: return Dataset.from_parquet([str(path) for path in paths], filters=filters, features=features) [rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ [rank0]: File "/usr/local/lib/python3.11/dist-packages/datasets/arrow_dataset.py", line 1583, in from_parquet [rank0]: ).read() [rank0]: ^^^^^^ [rank0]: File "/usr/local/lib/python3.11/dist-packages/datasets/io/parquet.py", line 62, in read [rank0]: self.builder.download_and_prepare( [rank0]: File "/usr/local/lib/python3.11/dist-packages/datasets/builder.py", line 884, in download_and_prepare [rank0]: self._download_and_prepare( [rank0]: File "/usr/local/lib/python3.11/dist-packages/datasets/builder.py", line 947, in _download_and_prepare [rank0]: self._prepare_split(split_generator, **prepare_split_kwargs) [rank0]: File "/usr/local/lib/python3.11/dist-packages/datasets/builder.py", line 1739, in _prepare_split [rank0]: for job_id, done, content in self._prepare_split_single( [rank0]: File "/usr/local/lib/python3.11/dist-packages/datasets/builder.py", line 1922, in _prepare_split_single [rank0]: raise DatasetGenerationError("An error occurred while generating the dataset") from e [rank0]: datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset [rank0]:[W322 06:03:44.998678785 ProcessGroupNCCL.cpp:1497] 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()) W0322 06:03:45.592000 6398 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 6467 closing signal SIGTERM W0322 06:03:45.593000 6398 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 6468 closing signal SIGTERM W0322 06:03:45.595000 6398 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 6469 closing signal SIGTERM W0322 06:03:45.596000 6398 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 6470 closing signal SIGTERM W0322 06:03:45.596000 6398 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 6471 closing signal SIGTERM W0322 06:03:45.597000 6398 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 6472 closing signal SIGTERM W0322 06:03:45.599000 6398 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 6473 closing signal SIGTERM E0322 06:03:46.708000 6398 torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 0 (pid: 6466) of binary: /usr/bin/python Traceback (most recent call last): File "/usr/local/bin/accelerate", line 8, in 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: ------------------------------------------------------------ Root Cause (first observed failure): [0]: time : 2026-03-22_06:03:45 host : 866c9028493c rank : 0 (local_rank: 0) exitcode : 1 (pid: 6466) error_file: traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html ============================================================ >>> Training finished with exit code 1 Ended: 2026-03-22 06:03:47 UTC