Deploying openpi0 on jetson orin encountered an error

[zhaodaxiang]

code was stuck

Without Docker

Terminal window 1:

uv run examples/simple_client/main.py --env DROID

Terminal window 2:

uv run scripts/serve_policy.py --env DROID

uv run scripts/serve_policy.py --env DROID will stuck at ~/openpi-main/src/openpi/models/model.py

    with ocp.PyTreeCheckpointer() as ckptr:
        metadata = ckptr.metadata(params_path)
        item = {"params": metadata["params"]}

        params = ckptr.restore(
            params_path,
            ocp.args.PyTreeRestore(
                item=item,
                restore_args=jax.tree.map(
                    lambda _: ocp.ArrayRestoreArgs(sharding=sharding, restore_type=restore_type, dtype=dtype), item
                ),
            ),
        )["params"]

there are some info INFO:root:Loading model... INFO:2025-03-17 19:44:58,699:jax._src.xla_bridge:945: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' INFO:2025-03-17 19:44:58,708:jax._src.xla_bridge:945: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory [CudaDevice(id=0)] Orin INFO:absl:orbax-checkpoint version: 0.11.1 INFO:absl:Created BasePyTreeCheckpointHandler: pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store=None

please help me ,thx a lot