=== Real-robot eval === Task: grasp the blue box Policy: /mnt/train-data-1-hdd/kunhsiang/pi05_so101_sc1_exp5_lora/checkpoints/030000/pretrained_model Episodes: 1 x 90s Repo: kunhsiang/eval_lora_checkpoints_030000_pretrained_model_grasp_the_blue_box_2026-04-17 GPU: 0 ======================= INFO 2026-04-17 19:50:53 t_record.py:489 {'dataset': {'encoder_queue_maxsize': 30, 'encoder_threads': 2, 'episode_time_s': 90, '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_lora_checkpoints_030000_pretrained_model_grasp_the_blue_box_2026-04-17', 'reset_time_s': 10, 'root': None, 'single_task': 'grasp the blue 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': }, 'observation.images.gripper': {'shape': (3, 480, 640), 'type': }, 'observation.images.top': {'shape': (3, 480, 640), 'type': }, 'observation.state': {'shape': (6,), 'type': }}, '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': , 'STATE': , 'VISUAL': }, 'num_inference_steps': 10, 'optimizer_betas': (0.9, 0.95), 'optimizer_eps': 1e-08, 'optimizer_grad_clip_norm': 1.0, 'optimizer_lr': 2.5e-05, 'optimizer_weight_decay': 0.01, 'output_features': {'action': {'shape': (6,), 'type': }}, 'paligemma_variant': 'gemma_2b', 'pretrained_path': '/mnt/train-data-1-hdd/kunhsiang/pi05_so101_sc1_exp5_lora/checkpoints/030000/pretrained_model', 'private': None, 'push_to_hub': False, 'relative_exclude_joints': ['gripper'], 'repo_id': None, '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': True, 'use_relative_actions': False}, 'resume': False, 'robot': {'calibration_dir': None, 'cameras': {'front': {'backend': , 'color_mode': , 'fourcc': None, 'fps': 30, 'height': 480, 'index_or_path': PosixPath('/dev/cam_front'), 'rotation': , 'warmup_s': 1, 'width': 640}, 'gripper': {'backend': , 'color_mode': , 'fourcc': None, 'fps': 30, 'height': 480, 'index_or_path': PosixPath('/dev/cam_side'), 'rotation': , 'warmup_s': 1, 'width': 640}, 'top': {'backend': , 'color_mode': , 'fourcc': None, 'fps': 30, 'height': 480, 'index_or_path': PosixPath('/dev/cam_top'), 'rotation': , '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 2026-04-17 19:50:53 eo_utils.py:108 Using video codec: libsvtav1 INFO 2026-04-17 19:50:53 eo_utils.py:108 Using video codec: libsvtav1 INFO 2026-04-17 19:50:53 /factory.py:545 Loading policy's PEFT adapter. INFO 2026-04-17 19:51:48 ing_pi05.py:598 Enabled gradient checkpointing for PI05Pytorch model WARNING 2026-04-17 19:52:22 ng_pi05.py:1102 Vision embedding key might need handling: paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.bias WARNING 2026-04-17 19:52:22 ng_pi05.py:1102 Vision embedding key might need handling: paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.weight INFO 2026-04-17 19:53:02 a_opencv.py:179 OpenCVCamera(/dev/cam_front) connected. INFO 2026-04-17 19:53:04 a_opencv.py:179 OpenCVCamera(/dev/cam_top) connected. INFO 2026-04-17 19:53:05 a_opencv.py:179 OpenCVCamera(/dev/cam_side) connected. INFO 2026-04-17 19:53:05 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 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 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 2026-04-17 19:53:05 ol_utils.py:141 Headless environment detected. On-screen cameras display and keyboard inputs will not be available. INFO 2026-04-17 19:53:05 ls/utils.py:142 Recording episode 0 WARNING 2026-04-17 19:53:06 t_record.py:477 Record loop is running slower (2.5 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 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 2026-04-17 19:53:06 t_record.py:477 Record loop is running slower (19.9 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 2026-04-17 19:53:07 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:09 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:11 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:13 t_record.py:477 Record loop is running slower (5.0 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 2026-04-17 19:53:15 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:16 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:18 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:20 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:53:22 t_record.py:477 Record loop is running slower (5.2 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 2026-04-17 19:53:24 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:26 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:53:27 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:29 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:31 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:33 t_record.py:477 Record loop is running slower (5.1 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 2026-04-17 19:53:35 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:37 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:38 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:40 t_record.py:477 Record loop is running slower (5.2 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 2026-04-17 19:53:42 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:44 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:46 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:47 t_record.py:477 Record loop is running slower (5.0 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 2026-04-17 19:53:49 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:53:51 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:53 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:55 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:53:57 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:53:58 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:54:00 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:54:02 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:54:04 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:54:06 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:54:08 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:54:09 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:54:11 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:54:13 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:54:15 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:54:17 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:54:18 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:54:20 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:54:22 t_record.py:477 Record loop is running slower (5.1 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 2026-04-17 19:54:24 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:54:26 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:54:28 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:54:29 t_record.py:477 Record loop is running slower (5.4 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 WARNING 2026-04-17 19:54:31 t_record.py:477 Record loop is running slower (5.5 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 2026-04-17 19:54:33 t_record.py:477 Record loop is running slower (5.3 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 2026-04-17 19:54:35 t_record.py:477 Record loop is running slower (5.5 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 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: lerobot/pi05_base ✓ Loaded state dict from model.safetensors Remapped 812 state dict keys 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%| | 0/2460 [00:00