出现以下报错：
INFO 2026-04-03 12:20:10 ot_train.py:403 Start offline training on a fixed dataset, with effective batch size: 16
/usr/local/lib/python3.10/dist-packages/torchvision/io/_video_deprecation_warning.py:5: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
warnings.warn(
/usr/local/lib/python3.10/dist-packages/torchvision/io/_video_deprecation_warning.py:5: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
warnings.warn(
/usr/local/lib/python3.10/dist-packages/torchvision/io/_video_deprecation_warning.py:5: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
warnings.warn(
/usr/local/lib/python3.10/dist-packages/torchvision/io/_video_deprecation_warning.py:5: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
warnings.warn(
Traceback (most recent call last):
File "/workspace/lerobot/unitree_sdk2_python/lerobot/src/lerobot/scripts/lerobot_train.py", line 551, in
main()
File "/workspace/lerobot/unitree_sdk2_python/lerobot/src/lerobot/scripts/lerobot_train.py", line 547, in main
train()
File "/workspace/lerobot/unitree_sdk2_python/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
response = fn(cfg, *args, **kwargs)
File "/workspace/lerobot/unitree_sdk2_python/lerobot/src/lerobot/scripts/lerobot_train.py", line 410, in train
batch = preprocessor(batch)
File "/workspace/lerobot/unitree_sdk2_python/lerobot/src/lerobot/processor/pipeline.py", line 294, in call
transformed_transition = self._forward(transition)
File "/workspace/lerobot/unitree_sdk2_python/lerobot/src/lerobot/processor/pipeline.py", line 311, in _forward
transition = processor_step(transition)
File "/workspace/lerobot/unitree_sdk2_python/lerobot/src/lerobot/policies/pi05/processor_pi05.py", line 63, in call
raise ValueError("State is required for PI05")
ValueError: State is required for PI05
我使用的训练脚本如下：
#!/bin/bash

python src/lerobot/scripts/lerobot_train.py
--dataset.repo_id=unitreerobotics/G1_WBT_Inspire_Put_Clothes_Into_Basket
--dataset.revision=main
--dataset.video_backend=pyav
--policy.normalization_mapping='{"ACTION":"MEAN_STD","STATE":"MEAN_STD","VISUAL":"IDENTITY"}'
--policy.type=pi05
--output_dir=./outputs/pi05_training_005_ins
--job_name=pi05_training_005_ins
--policy.push_to_hub=false
--policy.repo_id=your-username/your-repo-id
--policy.pretrained_path=lerobot/pi05_base
--policy.compile_model=false
--policy.gradient_checkpointing=true
--wandb.enable=false
--policy.dtype=bfloat16
--policy.freeze_vision_encoder=false
--policy.train_expert_only=false
--steps=10
--policy.device=cuda
--batch_size=16