Upload training_20260311_064111_exit1.log with huggingface_hub

training_20260311_064111_exit1.log

@@ -0,0 +1,369 @@
+=== Avatar Training (fire-and-forget) ===
+Script: train_pi0fast.py
+Started: 2026-03-11 06:38:40 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...
+  Downloading lerobot/pi0fast-base (default)...
+
+  Cached at /root/.cache/huggingface/hub/models--lerobot--pi0fast-base/snapshots/0737e07fac1e63519c0bd38bd869934ecd9c3f86
+  GPUs: 4x NVIDIA A100-SXM4-80GB
+>>> [4/4] Launching accelerate with 4 GPUs...
+  Script: train_pi0fast.py
+  Train args: --dataset orange_hook_right_20260310 --steps 10000 --batch-size 8 --lr 5e-5 --save-freq 2000 --push-to-hub --num-workers 8 --task-text pick\ up\ the\ orange\ flat\ package 
+
+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:  lerobot/pi0fast-base
+  Model repo:  hamidavatar/pi0fast-orange-hook-right-b32-20260311-0639
+  Steps:       10000
+  Batch/GPU:   8  (eff: 32)
+  Chunk size:  10
+  LR:          5e-05
+  Save freq:   2000
+  GPUs:        4
+============================================================
+
+lerobot_train \
+  --dataset.repo_id=hamidavatar/orange_hook_right_20260310 \
+  --policy.type=pi0_fast \
+  --policy.pretrained_path=lerobot/pi0fast-base \
+  --policy.repo_id=hamidavatar/pi0fast-orange-hook-right-b32-20260311-0639 \
+  --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=1000 \
+  --policy.scheduler_decay_steps=10000 \
+  --policy.scheduler_decay_lr=1e-6 \
+  --batch_size=8 \
+  --steps=10000 \
+  --save_freq=2000 \
+  --log_freq=100 \
+  --save_checkpoint=true \
+  --seed=1000 \
+  --num_workers=8 \
+  --output_dir=outputs/train/pi0fast \
+  --policy.push_to_hub=true \
+  --policy.private=true \
+
+[Avatar] cudnn.benchmark=True, tf32=True
+[Avatar] Checkpoint push enabled → hamidavatar/pi0fast-orange-hook-right-b32-20260311-0639 (with per-step tags)
+[Avatar] Dataset task text patched → "pick up the orange flat package"
+[Avatar] Dataset timestamp tolerance set to 2.0s
+[Avatar] Installed corrupt-frame retry handler
+[Avatar] Checkpoint push enabled → hamidavatar/pi0fast-orange-hook-right-b32-20260311-0639 (with per-step tags)
+[Avatar] Dataset task text patched → "pick up the orange flat package"
+[Avatar] Dataset timestamp tolerance set to 2.0s
+[Avatar] Installed corrupt-frame retry handler
+[Avatar] Checkpoint push enabled → hamidavatar/pi0fast-orange-hook-right-b32-20260311-0639 (with per-step tags)
+[Avatar] Dataset task text patched → "pick up the orange flat package"
+[Avatar] Dataset timestamp tolerance set to 2.0s
+[Avatar] Installed corrupt-frame retry handler
+[Avatar] Checkpoint push enabled → hamidavatar/pi0fast-orange-hook-right-b32-20260311-0639 (with per-step tags)
+[Avatar] Dataset task text patched → "pick up the orange flat package"
+[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'.
+INFO 2026-03-11 06:39:12 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': 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': <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': 5e-05,
+            'optimizer_weight_decay': 0.01,
+            'output_features': {},
+            'paligemma_variant': 'gemma_2b',
+            'pretrained_path': 'lerobot/pi0fast-base',
+            'private': True,
+            'push_to_hub': True,
+            'repo_id': 'hamidavatar/pi0fast-orange-hook-right-b32-20260311-0639',
+            'rtc_config': None,
+            'scheduler_decay_lr': 1e-06,
+            'scheduler_decay_steps': 10000,
+            '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': 2000,
+ 'scheduler': {'decay_lr': 1e-06,
+               'num_decay_steps': 10000,
+               'num_warmup_steps': 1000,
+               'peak_lr': 5e-05,
+               'type': 'cosine_decay_with_warmup'},
+ 'seed': 1000,
+ 'steps': 10000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'use_rabc': False,
+ 'wandb': {'disable_artifact': False,
+           'enable': False,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': None}}
+INFO 2026-03-11 06:39:12 ot_train.py:205 Logs will be saved locally.
+INFO 2026-03-11 06:39:12 ot_train.py:217 Creating dataset
+
+INFO 2026-03-11 06:39:13 eo_utils.py:106 Using video codec: libsvtav1
+
+NCCL version 2.26.2+cuda12.2
+INFO 2026-03-11 06:39:59 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
+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 2026-03-11 06:40:03 pi0_fast.py:837 Loaded FAST tokenizer for action detokenization
+INFO 2026-03-11 06:40:52 pi0_fast.py:329 Enabled gradient checkpointing for PI0FastPytorch model
+Loading model from: lerobot/pi0fast-base
+✓ Loaded state dict from model.safetensors
+Loading model from: lerobot/pi0fast-base
+✓ Loaded state dict from model.safetensors
+Loading model from: lerobot/pi0fast-base
+✓ Loaded state dict from model.safetensors
+Loading model from: lerobot/pi0fast-base
+✓ Loaded state dict from model.safetensors
+WARNING 2026-03-11 06:40:55 pi0_fast.py:991 Vision embedding key might need handling: model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.bias
+WARNING 2026-03-11 06:40:55 pi0_fast.py:991 Vision embedding key might need handling: model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.weight
+All keys loaded successfully!
+All keys loaded successfully!
+All keys loaded successfully!
+All keys loaded successfully!
+INFO 2026-03-11 06:41:04 ot_train.py:290 Creating optimizer and scheduler
+INFO 2026-03-11 06:41:04 ot_train.py:325 Output dir: outputs/train/pi0fast
+INFO 2026-03-11 06:41:04 ot_train.py:332 cfg.steps=10000 (10K)
+INFO 2026-03-11 06:41:04 ot_train.py:333 dataset.num_frames=75507 (76K)
+INFO 2026-03-11 06:41:04 ot_train.py:334 dataset.num_episodes=257
+INFO 2026-03-11 06:41:04 ot_train.py:337 Effective batch size: 8 x 4 = 32
+INFO 2026-03-11 06:41:04 ot_train.py:338 num_learnable_params=2923335408 (3B)
+INFO 2026-03-11 06:41:04 ot_train.py:339 num_total_params=2923335408 (3B)
+
+[rank3]: Traceback (most recent call last):
+[rank3]:   File "/tmp/train_pi0fast.py", line 328, in <module>
+[rank3]:     main()
+[rank3]:   File "/tmp/train_pi0fast.py", line 324, 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 409, in train
+[rank3]:     batch = next(dl_iter)
+[rank3]:             ^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/utils.py", line 911, in cycle
+[rank3]:     yield next(iterator)
+[rank3]:           ^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/accelerate/data_loader.py", line 577, in __iter__
+[rank3]:     current_batch = next(dataloader_iter)
+[rank3]:                     ^^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/torch/utils/data/dataloader.py", line 733, in __next__
+[rank3]:     data = self._next_data()
+[rank3]:            ^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/torch/utils/data/dataloader.py", line 1515, in _next_data
+[rank3]:     return self._process_data(data, worker_id)
+[rank3]:            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/torch/utils/data/dataloader.py", line 1550, in _process_data
+[rank3]:     data.reraise()
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/torch/_utils.py", line 750, in reraise
+[rank3]:     raise exception
+[rank3]: lerobot.datasets.video_utils.FrameTimestampError: Caught FrameTimestampError in DataLoader worker process 0.
+[rank3]: Original Traceback (most recent call last):
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/torch/utils/data/_utils/worker.py", line 349, in _worker_loop
+[rank3]:     data = fetcher.fetch(index)  # type: ignore[possibly-undefined]
+[rank3]:            ^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/torch/utils/data/_utils/fetch.py", line 52, in fetch
+[rank3]:     data = [self.dataset[idx] for idx in possibly_batched_index]
+[rank3]:            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/torch/utils/data/_utils/fetch.py", line 52, in <listcomp>
+[rank3]:     data = [self.dataset[idx] for idx in possibly_batched_index]
+[rank3]:             ~~~~~~~~~~~~^^^^^
+[rank3]:   File "/tmp/train_pi0fast.py", line 121, in _safe_getitem
+[rank3]:     result = _orig_getitem(self, idx)
+[rank3]:              ^^^^^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/tmp/train_pi0fast.py", line 63, in _getitem_with_text
+[rank3]:     item = _orig_getitem(self, idx)
+[rank3]:            ^^^^^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/lerobot_dataset.py", line 1101, in __getitem__
+[rank3]:     video_frames = self._query_videos(query_timestamps, ep_idx)
+[rank3]:                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/lerobot_dataset.py", line 1064, in _query_videos
+[rank3]:     frames = decode_video_frames(video_path, shifted_query_ts, self.tolerance_s, self.video_backend)
+[rank3]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/video_utils.py", line 150, in decode_video_frames
+[rank3]:     return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s)
+[rank3]:            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank3]:   File "/usr/local/lib/python3.11/dist-packages/lerobot/datasets/video_utils.py", line 362, in decode_video_frames_torchcodec
+[rank3]:     raise FrameTimestampError(
+[rank3]: lerobot.datasets.video_utils.FrameTimestampError: One or several query timestamps unexpectedly violate the tolerance (tensor([1.3333]) > tolerance_s=0.0001). It means that the closest frame that can be loaded from the video is too far away in time. This might be due to synchronization issues with timestamps during data collection. To be safe, we advise to ignore this item during training.
+[rank3]: queried timestamps: tensor([0.3000])
+[rank3]: loaded timestamps: tensor([1.6333])
+[rank3]: video: /root/.cache/huggingface/lerobot/hamidavatar/orange_hook_right_20260310/videos/observation.images.wrist/chunk-000/file-209.mp4
+
+W0311 06:41:08.891000 2417 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2485 closing signal SIGTERM
+W0311 06:41:08.895000 2417 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2486 closing signal SIGTERM
+W0311 06:41:08.899000 2417 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2487 closing signal SIGTERM
+E0311 06:41:10.782000 2417 torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 3 (pid: 2488) 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      : 2026-03-11_06:41:08
+  host      : b1c71c7d39a4
+  rank      : 3 (local_rank: 3)
+  exitcode  : 1 (pid: 2488)
+  error_file: <N/A>
+  traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
+============================================================
+
+>>> Training finished with exit code 1
+Ended: 2026-03-11 06:41:11 UTC
+>>> Saving training log to HuggingFace...