=== 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.
⚠️  Warning: 'huggingface-cli login' is deprecated. Use 'hf auth login' instead.
>>> [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

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INFO 2026-03-12 02:50:10 eo_utils.py:106 Using video codec: libsvtav1

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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...