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=== Real-robot eval ===
Task: grasp the red box
Policy: /mnt/train-data-1-hdd/kunhsiang/exp3_10k_local
Episodes: 1 x 30s
Repo: kunhsiang/eval_exp3_010000_grasp_the_red_box_20260430-193702
GPU: 0
=======================
INFO 2026-04-30 19:37:08 t_record.py:489 {'dataset': {'encoder_queue_maxsize': 30,
 'encoder_threads': 2,
 'episode_time_s': 30,
 'fps': 30,
 'num_episodes': 1,
 'num_image_writer_processes': 0,
 'num_image_writer_threads_per_camera': 4,
 'private': False,
 'push_to_hub': True,
 'rename_map': {},
 'repo_id': 'kunhsiang/eval_exp3_010000_grasp_the_red_box_20260430-193702',
 'reset_time_s': 10,
 'root': None,
 'single_task': 'grasp the red box',
 'streaming_encoding': True,
 'tags': None,
 'vcodec': 'libsvtav1',
 'video': True,
 'video_encoding_batch_size': 1},
 'display_compressed_images': False,
 'display_data': False,
 'display_ip': None,
 'display_port': None,
 'interpolation_multiplier': 1,
 'play_sounds': False,
 'policy': {'action_expert_variant': 'gemma_300m',
 'action_feature_names': ['shoulder_pan.pos',
 'shoulder_lift.pos',
 'elbow_flex.pos',
 'wrist_flex.pos',
 'wrist_roll.pos',
 'gripper.pos'],
 'chunk_size': 50,
 'compile_mode': 'max-autotune',
 'compile_model': False,
 'device': 'cuda',
 'dtype': 'bfloat16',
 'empty_cameras': 0,
 'freeze_vision_encoder': False,
 'gradient_checkpointing': True,
 'image_resolution': (224, 224),
 'input_features': {'observation.images.front': {'shape': (3,
 480,
 640),
 'type': <FeatureType.VISUAL: 'VISUAL'>},
 'observation.images.gripper': {'shape': (3,
 480,
 640),
 'type': <FeatureType.VISUAL: 'VISUAL'>},
 'observation.images.top': {'shape': (3,
 480,
 640),
 'type': <FeatureType.VISUAL: 'VISUAL'>},
 'observation.state': {'shape': (6,),
 'type': <FeatureType.STATE: 'STATE'>}},
 'license': None,
 'max_action_dim': 32,
 'max_period': 4.0,
 'max_state_dim': 32,
 'min_period': 0.004,
 'n_action_steps': 50,
 'n_obs_steps': 1,
 'normalization_mapping': {'ACTION': <NormalizationMode.QUANTILES: 'QUANTILES'>,
 'STATE': <NormalizationMode.QUANTILES: 'QUANTILES'>,
 'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
 'num_inference_steps': 10,
 'optimizer_betas': (0.9, 0.95),
 'optimizer_eps': 1e-08,
 'optimizer_grad_clip_norm': 1.0,
 'optimizer_lr': 5e-06,
 'optimizer_weight_decay': 0.01,
 'output_features': {'action': {'shape': (6,),
 'type': <FeatureType.ACTION: 'ACTION'>}},
 'paligemma_variant': 'gemma_2b',
 'pretrained_path': '/mnt/train-data-1-hdd/kunhsiang/exp3_10k_local',
 'private': None,
 'push_to_hub': True,
 'relative_exclude_joints': ['gripper'],
 'repo_id': 'kunhsiang/pi05_so101_sc1newcolor_exp3_fullft',
 'rtc_config': None,
 'scheduler_decay_lr': 2.5e-06,
 'scheduler_decay_steps': 30000,
 'scheduler_warmup_steps': 1000,
 'tags': None,
 'time_sampling_beta_alpha': 1.5,
 'time_sampling_beta_beta': 1.0,
 'time_sampling_offset': 0.001,
 'time_sampling_scale': 0.999,
 'tokenizer_max_length': 200,
 'train_expert_only': False,
 'use_amp': False,
 'use_peft': False,
 'use_relative_actions': False},
 'resume': False,
 'robot': {'calibration_dir': None,
 'cameras': {'front': {'backend': <Cv2Backends.ANY: 0>,
 'color_mode': <ColorMode.RGB: 'rgb'>,
 'fourcc': None,
 'fps': 30,
 'height': 480,
 'index_or_path': PosixPath('/dev/cam_front'),
 'rotation': <Cv2Rotation.NO_ROTATION: 0>,
 'warmup_s': 1,
 'width': 640},
 'gripper': {'backend': <Cv2Backends.ANY: 0>,
 'color_mode': <ColorMode.RGB: 'rgb'>,
 'fourcc': None,
 'fps': 30,
 'height': 480,
 'index_or_path': PosixPath('/dev/cam_side'),
 'rotation': <Cv2Rotation.NO_ROTATION: 0>,
 'warmup_s': 1,
 'width': 640},
 'top': {'backend': <Cv2Backends.ANY: 0>,
 'color_mode': <ColorMode.RGB: 'rgb'>,
 'fourcc': None,
 'fps': 30,
 'height': 480,
 'index_or_path': PosixPath('/dev/cam_top'),
 'rotation': <Cv2Rotation.NO_ROTATION: 0>,
 'warmup_s': 1,
 'width': 640}},
 'disable_torque_on_disconnect': True,
 'id': 'my_awesome_follower_arm',
 'max_relative_target': None,
 'port': '/dev/ttyACM1',
 'use_degrees': True},
 'teleop': None}
INFO 2026-04-30 19:37:08 eo_utils.py:108 Using video codec: libsvtav1
INFO 2026-04-30 19:37:08 eo_utils.py:108 Using video codec: libsvtav1
INFO 2026-04-30 19:38:09 ing_pi05.py:598 Enabled gradient checkpointing for PI05Pytorch model
WARNING 2026-04-30 19:38:13 ng_pi05.py:1102 Vision embedding key might need handling: model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.bias
WARNING 2026-04-30 19:38:13 ng_pi05.py:1102 Vision embedding key might need handling: model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.weight
INFO 2026-04-30 19:38:51 a_opencv.py:179 OpenCVCamera(/dev/cam_front) connected.
INFO 2026-04-30 19:38:53 a_opencv.py:179 OpenCVCamera(/dev/cam_top) connected.
INFO 2026-04-30 19:38:54 a_opencv.py:179 OpenCVCamera(/dev/cam_side) connected.
INFO 2026-04-30 19:38:54 follower.py:105 my_awesome_follower_arm SOFollower connected.
Traceback (most recent call last):
 File "/mnt/train-data-1-hdd/kunhsiang/miniconda3/envs/lerobot-sm120-py312/lib/python3.12/site-packages/lerobot/utils/control_utils.py", line 53, in is_headless
 import pynput # noqa
 ^^^^^^^^^^^^^
 File "/mnt/train-data-1-hdd/kunhsiang/miniconda3/envs/lerobot-sm120-py312/lib/python3.12/site-packages/pynput/__init__.py", line 40, in <module>
 from . import keyboard
 File "/mnt/train-data-1-hdd/kunhsiang/miniconda3/envs/lerobot-sm120-py312/lib/python3.12/site-packages/pynput/keyboard/__init__.py", line 31, in <module>
 backend = backend(__name__)
 ^^^^^^^^^^^^^^^^^
 File "/mnt/train-data-1-hdd/kunhsiang/miniconda3/envs/lerobot-sm120-py312/lib/python3.12/site-packages/pynput/_util/__init__.py", line 78, in backend
 raise ImportError('this platform is not supported: {}'.format(
ImportError: this platform is not supported: ('failed to acquire X connection: Bad display name ""', DisplayNameError(''))
Try one of the following resolutions:
* Please make sure that you have an X server running, and that the DISPLAY environment variable is set correctly
WARNING 2026-04-30 19:38:55 ol_utils.py:141 Headless environment detected. On-screen cameras display and keyboard inputs will not be available.
INFO 2026-04-30 19:38:55 ls/utils.py:142 Recording episode 0
WARNING 2026-04-30 19:38:55 t_record.py:477 Record loop is running slower (1.4 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit
Svt[info]: LIB Build date: Jul 3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 2
Svt[info]: Number of PPCS 42
Svt[info]: [asm level on system : up to avx512icl]
Svt[info]: [asm level selected : up to avx512icl]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile tier (auto) level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30
Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit
Svt[info]: LIB Build date: Jul 3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 2
Svt[info]: Number of PPCS 42
Svt[info]: [asm level on system : up to avx512icl]
Svt[info]: [asm level selected : up to avx512icl]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile tier (auto) level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30
Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit
Svt[info]: LIB Build date: Jul 3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 2
Svt[info]: Number of PPCS 42
Svt[info]: [asm level on system : up to avx512icl]
Svt[info]: [asm level selected : up to avx512icl]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile tier (auto) level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30
Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
WARNING 2026-04-30 19:38:55 t_record.py:477 Record loop is running slower (12.3 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:38:57 t_record.py:477 Record loop is running slower (7.0 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:38:59 t_record.py:477 Record loop is running slower (7.1 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:01 t_record.py:477 Record loop is running slower (7.0 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:02 t_record.py:477 Record loop is running slower (6.7 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:04 t_record.py:477 Record loop is running slower (7.0 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:06 t_record.py:477 Record loop is running slower (7.0 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:08 t_record.py:477 Record loop is running slower (6.9 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:10 t_record.py:477 Record loop is running slower (6.5 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:11 t_record.py:477 Record loop is running slower (7.1 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:13 t_record.py:477 Record loop is running slower (6.5 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:15 t_record.py:477 Record loop is running slower (6.9 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:17 t_record.py:477 Record loop is running slower (6.8 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:19 t_record.py:477 Record loop is running slower (6.9 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:20 t_record.py:477 Record loop is running slower (7.1 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:22 t_record.py:477 Record loop is running slower (7.0 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
WARNING 2026-04-30 19:39:24 t_record.py:477 Record loop is running slower (6.6 Hz) than the target FPS (30 Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation
The PI05 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
Loading model from: /mnt/train-data-1-hdd/kunhsiang/exp3_10k_local
✓ Loaded state dict from model.safetensors
All keys loaded successfully!
Error trying to import pynput. Switching to headless mode. As a result, the video stream from the cameras won't be shown, and you won't be able to change the control flow with keyboards. For more info, see traceback below.
Map: 0%| | 0/823 [00:00<?, ? examples/s] Map: 98%|█████████▊| 807/823 [00:00<00:00, 8026.93 examples/s] Map: 100%|██████████| 823/823 [00:00<00:00, 6165.06 examples/s]
INFO 2026-04-30 19:39:25 ls/utils.py:142 Stop recording
INFO 2026-04-30 19:39:25 a_opencv.py:592 OpenCVCamera(/dev/cam_front) disconnected.
INFO 2026-04-30 19:39:25 a_opencv.py:592 OpenCVCamera(/dev/cam_top) disconnected.
INFO 2026-04-30 19:39:25 a_opencv.py:592 OpenCVCamera(/dev/cam_side) disconnected.
INFO 2026-04-30 19:39:25 follower.py:229 my_awesome_follower_arm SOFollower disconnected.
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INFO 2026-04-30 19:39:39 ls/utils.py:142 Exiting
=== eval done, HF repo: https://huggingface.co/datasets/kunhsiang/eval_exp3_010000_grasp_the_red_box_20260430-193702 ===
=== current follower pose (raw ticks) ===
 shoulder_pan current= 1727 home= 2044 diff= -317
 shoulder_lift current= 2748 home= 1136 diff=+1612
 elbow_flex current= 1369 home= 2962 diff=-1593
 wrist_flex current= 2939 home= 1032 diff=+1907
 wrist_roll current= 1811 home= 2051 diff= -240
 gripper current= 2182 home= 2056 diff= +126
=== after reset ===
 shoulder_pan 2045 (target 2044)
 shoulder_lift 1138 (target 1136)
 elbow_flex 2961 (target 2962)
 wrist_flex 1041 (target 1032)
 wrist_roll 2051 (target 2051)
 gripper 2062 (target 2056)
=== follower reset to HOME ===