LeRobot PI0 模型训练环境配置问题与解决方案#

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LocalEntryNotFoundError: Cannot find an appropriate cached snapshot folder for the
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specified revision on the local disk and outgoing traffic has been disabled.

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~/.cache/huggingface/hub/models--lerobot--pi0_base/
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├── blobs/                          ← 存放实际文件内容（以SHA256哈希命名）
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│   ├── cd7cb479bb...config.json的内容
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│   ├── 8229fd9a7c...model.safetensors的内容
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│   └── ...
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├── refs/
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│   └── main                        ← 内容为 commit hash（如 "00000000"）
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└── snapshots/
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    └── <commit_hash>/              ← 目录名必须与 refs/main 中的值一致
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        ├── config.json             ← 符号链接 → ../../blobs/<sha256>
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        ├── model.safetensors       ← 符号链接 → ../../blobs/<sha256>
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        └── ...

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import os, hashlib, shutil
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def setup_hf_cache(model_dir, repo_name, snapshot_id="00000000"):
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    cache_dir = os.path.expanduser(f"~/.cache/huggingface/hub/{repo_name}")
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    blobs_dir = os.path.join(cache_dir, "blobs")
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    refs_dir = os.path.join(cache_dir, "refs")
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    snap_dir = os.path.join(cache_dir, "snapshots", snapshot_id)
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    os.makedirs(blobs_dir, exist_ok=True)
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    os.makedirs(refs_dir, exist_ok=True)
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    os.makedirs(snap_dir, exist_ok=True)
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    with open(os.path.join(refs_dir, "main"), "w") as f:
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        f.write(snapshot_id)
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    for fname in os.listdir(model_dir):
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        src_path = os.path.join(model_dir, fname)
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        if not os.path.isfile(src_path):
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            continue
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        sha = hashlib.sha256()
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        with open(src_path, "rb") as f:
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            for chunk in iter(lambda: f.read(65536), b""):
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                sha.update(chunk)
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        blob_hash = sha.hexdigest()
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        blob_path = os.path.join(blobs_dir, blob_hash)
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        if not os.path.exists(blob_path):
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            shutil.copy2(src_path, blob_path)
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        snap_file = os.path.join(snap_dir, fname)
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        rel = os.path.relpath(blob_path, snap_dir)
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        if os.path.exists(snap_file) or os.path.islink(snap_file):
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            os.remove(snap_file)
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        os.symlink(rel, snap_file)
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# 对三个模型分别执行
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setup_hf_cache("/model/pi0", "models--lerobot--pi0_base")
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setup_hf_cache("/model/paligemma/paligemma-3b-pt-224", "models--google--paligemma-3b-pt-224")
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setup_hf_cache("/model/fast/fast", "models--physical-intelligence--fast")

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KeyError: "Processor step 'relative_actions_processor' not found in registry.
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Available steps: ['to_batch_processor_action', 'to_batch_processor_observation',
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'to_batch_processor_complementary_data', 'to_batch_processor', ...]"

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// 修改前的 steps 列表：
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{
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  "registry_name": "relative_actions_processor",
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  "config": {
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    "enabled": false,
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    "exclude_joints": ["gripper"],
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    "action_names": null
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  }
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}
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// → 直接从 steps 数组中删除此条目

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// 修改前的 steps 列表：
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{
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  "registry_name": "absolute_actions_processor",
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  "config": {
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    "enabled": false
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  }
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}
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// → 直接从 steps 数组中删除此条目