Jetson Orin nx 无法train pi0

export OMP_NUM_THREADS=2

export MKL_NUM_THREADS=2

export NUMEXPR_NUM_THREADS=2

python -m lerobot.scripts.lerobot_train \

--policy.type=pi0 \

--policy.pretrained_path=lerobot/pi0_base \

--policy.repo_id=local/pi0_soarm101 \

--policy.push_to_hub=False \

--dataset.repo_id=local/all_data \

--dataset.root=/media/jetson/52AE-4AB4/merged_70 \

--output_dir=./outputs/pi0_soarm101 \

--job_name=pi0_soarm101 \

--steps=1500 \

--batch_size=1 \

--num_workers=0 \

--policy.device=cpu \

--policy.dtype=float32 \

--policy.use_peft=true \

--policy.train_expert_only=true \

--policy.freeze_vision_encoder=true \

--policy.gradient_checkpointing=true \

--policy.compile_model=false \

--policy.n_action_steps=4 \

--policy.n_obs_steps=1 \

--save_freq=3005e-6 \e_steps=2 \

ERROR:root:Could not import third-party plugin: lerobot_robot_bi_so101_follower

Traceback (most recent call last):

File "/home/jetson/lerobot/src/lerobot/utils/import_utils.py", line 158, in attempt_import

importlib.import_module(module_name)

File "/home/jetson/miniconda3/envs/lerobot_py310/lib/python3.10/importlib/init.py", line 126, in import_module

return _bootstrap._gcd_import(name $level:$ , package, level)

File "<frozen importlib._bootstrap>", line 1050, in _gcd_import

File "<frozen importlib._bootstrap>", line 1027, in _find_and_load

File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked

File "<frozen importlib._bootstrap>", line 688, in _load_unlocked

File "<frozen importlib._bootstrap_external>", line 883, in exec_module

File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed

File "/home/jetson/.local/lib/python3.10/site-packages/lerobot_robot_bi_so101_follower/init.py", line 17, in <module>

from .bi_so101_follower import BiSO101Follower

File "/home/jetson/.local/lib/python3.10/site-packages/lerobot_robot_bi_so101_follower/bi_so101_follower.py", line 23, in <module>

from lerobot.robots.so101_follower import SO101Follower

ModuleNotFoundError: No module named 'lerobot.robots.so101_follower'

WARNING:root:'torchcodec' is not available in your platform, falling back to 'pyav' as a default decoder

INFO 2026-05-19 18:22:57 ot_train.py:197 {'batch_size': 1,

'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': 'local/all_data',

'revision': None,

'root': '/media/jetson/52AE-4AB4/merged_70',

'streaming': False,

'use_imagenet_stats': True,

'video_backend': 'pyav'},

'env': None,

'eval': {'batch_size': 50, 'n_episodes': 50, 'use_async_envs': False},

'eval_freq': 20000,

'job_name': 'pi0_soarm101',

'log_freq': 200,

'num_workers': 0,

'optimizer': {'betas': $0.9, 0.95$ ,

'eps': 1e-08,

'grad_clip_norm': 1.0,

'lr': 2.5e-05,

'type': 'adamw',

'weight_decay': 0.01},

'output_dir': 'outputs/pi0_soarm101',

'peft': None,

'policy': {'action_expert_variant': 'gemma_300m',

'chunk_size': 50,

'compile_mode': 'max-autotune',

'compile_model': False,

'device': 'cpu',

'dtype': 'float32',

'empty_cameras': 0,

'freeze_vision_encoder': True,

'gradient_checkpointing': True,

'image_resolution': $224, 224$ ,

'input_features': {},

'license': None,

'max_action_dim': 32,

'max_period': 4.0,

'max_state_dim': 32,

'min_period': 0.004,

'n_action_steps': 4,

'n_obs_steps': 1,

'normalization_mapping': {'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,

'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,

'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},

'num_inference_steps': 2,

'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': {},

'paligemma_variant': 'gemma_2b',

'pretrained_path': 'lerobot/pi0_base',

'private': None,

'push_to_hub': False,

'repo_id': 'local/pi0_soarm101',

'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': 48,

'train_expert_only': True,

'type': 'pi0',

'use_amp': False,

'use_peft': 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': 300,

'scheduler': {'decay_lr': 2.5e-06,

'num_decay_steps': 30000,

'num_warmup_steps': 1000,

'peak_lr': 2.5e-05,

'type': 'cosine_decay_with_warmup'},

'seed': 1000,

'steps': 1500,

'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 2026-05-19 18:22:57 ot_train.py:205 Logs will be saved locally.

INFO 2026-05-19 18:22:57 ot_train.py:217 Creating dataset

INFO 2026-05-19 18:22:58 eo_utils.py:106 Using video codec: libsvtav1

INFO 2026-05-19 18:22:58 ot_train.py:235 Creating policy

Traceback (most recent call last):

File "/home/jetson/miniconda3/envs/lerobot_py310/lib/python3.10/runpy.py", line 196, in _run_module_as_main

return _run_code(code, main_globals, None,

File "/home/jetson/miniconda3/envs/lerobot_py310/lib/python3.10/runpy.py", line 86, in _run_code

exec(code, run_globals)

File "/home/jetson/lerobot/src/lerobot/scripts/lerobot_train.py", line 551, in <module>

main()

File "/home/jetson/lerobot/src/lerobot/scripts/lerobot_train.py", line 547, in main

train()

File "/home/jetson/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner

response = fn(cfg, *args, **kwargs)

File "/home/jetson/lerobot/src/lerobot/scripts/lerobot_train.py", line 236, in train

policy = make_policy(

File "/home/jetson/lerobot/src/lerobot/policies/factory.py", line 497, in make_policy

from peft import PeftConfig, PeftModel

ModuleNotFoundError: No module named 'peft'

(lerobot_py310) jetson@jetson-desktop:~$ export OMP_NUM_THREADS=1

export MKL_NUM_THREADS=1

export NUMEXPR_NUM_THREADS=1

python -m lerobot.scripts.lerobot_train \

--policy.type=pi0 \

--policy.pretrained_path=lerobot/pi0_base \

--policy.repo_id=local/pi0_soarm101 \

--policy.push_to_hub=False \

--dataset.repo_id=local/all_data \

--dataset.root=/media/jetson/52AE-4AB4/merged_70 \

--output_dir=./outputs/pi0_soarm101 \

--job_name=pi0_soarm101 \

--steps=1000 \

--batch_size=1 \

--num_workers=0 \

--policy.device=cpu \

--policy.dtype=float32 \

--policy.use_peft=false \

--policy.train_expert_only=true \

--policy.num_inference_steps=1g=false \