Crash log in Reachy Mini Wireless (CM4 version)
#10
by
fuzzie - opened
I am experiencing crashes on my Reachy Mini (Wireless).
The app starts fine, but after adding it to my home assistant it immediately crashes here before I have a chance to configure the home assistant satellite:
2026-02-10 08:33:24,240 - reachy_mini.app - INFO - Daemon on localhost: True
2026-02-10 08:33:24,241 - __main__ - INFO - Starting Reachy Mini HA Voice App...
2026-02-10 08:33:24,241 - __main__ - INFO - Attempting to connect to Reachy Mini...
2026-02-10 08:33:24,242 - reachy_mini.app - INFO - Starting Reachy Mini app...
2026-02-10 08:33:24,242 - reachy_mini.app - INFO - Using media backend: default
2026-02-10 08:33:24,243 - reachy_mini.app - INFO - Daemon on localhost: True
2026-02-10 08:33:24,279 - reachy_mini.reachy_mini - INFO - Connection mode selected: localhost_only
2026-02-10 08:33:25,004 - reachy_mini.reachy_mini - INFO - Auto-detected: Wireless + local camera socket. Using GStreamer backend (no WebRTC overhead).
2026-02-10 08:33:27,005 - reachy_mini.media.media_manager - INFO - Using GStreamer media backend.
2026-02-10 08:33:27,005 - reachy_mini.media.media_manager - INFO - Using GStreamer camera backend.
2026-02-10 08:33:27,263 - reachy_mini.media.media_manager - INFO - Using GStreamer audio backend.
2026-02-10 08:33:27,352 - __main__ - INFO - Starting Reachy Mini for Home Assistant...
2026-02-10 08:33:27,355 - reachy_mini_ha_voice.motion.animation_player - INFO - Loaded 3 animations
2026-02-10 08:33:27,357 - reachy_mini_ha_voice.motion.movement_manager - INFO - MovementManager initialized with AnimationPlayer and DOA tracking
2026-02-10 08:33:27,358 - reachy_mini_ha_voice.core.health_monitor - INFO - Registered health checker for: voice_assistant
2026-02-10 08:33:27,359 - reachy_mini_ha_voice.core.health_monitor - INFO - Health monitor started with 1 checkers
2026-02-10 08:33:27,360 - reachy_mini_ha_voice.core.memory_monitor - INFO - Memory monitor started (warning: 500 MB, critical: 800 MB)
2026-02-10 08:33:27,361 - reachy_mini_ha_voice.voice_assistant - INFO - Initializing voice assistant service...
2026-02-10 08:33:27,364 - reachy_mini_ha_voice.voice_assistant - INFO - All required files verified successfully.
{'type': 'micro', 'wake_word': 'Okay Nabu', 'author': 'Kevin Ahrendt', 'website': 'https://www.kevinahrendt.com/', 'model': 'okay_nabu.tflite', 'trained_languages': ['en', 'nl', 'fr', 'de', 'it', 'es', 'sv'], 'version': 2, 'micro': {'probability_cutoff': 0.85, 'feature_step_size': 10, 'sliding_window_size': 5, 'tensor_arena_size': 37000, 'minimum_esphome_version': '2024.7.0'}}
{'type': 'micro', 'wake_word': 'Stop', 'author': 'Kevin Ahrendt', 'website': 'https://www.kevinahrendt.com/', 'model': 'stop.tflite', 'trained_languages': ['en'], 'version': 2, 'micro': {'probability_cutoff': 0.5, 'feature_step_size': 10, 'sliding_window_size': 5, 'tensor_arena_size': 21000, 'minimum_esphome_version': '2024.7.0'}}
2026-02-10 08:33:27,383 - reachy_mini_ha_voice.voice_assistant - INFO - Loaded stop model with ID: stop, config: /venvs/apps_venv/lib/python3.12/site-packages/reachy_mini_ha_voice/wakewords/stop.json
2026-02-10 08:33:27,384 - reachy_mini_ha_voice.voice_assistant - INFO - Stop word initialized with ID: stop
2026-02-10 08:33:27,390 - reachy_mini_ha_voice.voice_assistant - INFO - Started Reachy Mini recording
2026-02-10 08:33:27,394 - reachy_mini_ha_voice.voice_assistant - INFO - Started Reachy Mini playback
2026-02-10 08:33:27,397 - reachy_mini_ha_voice.voice_assistant - INFO - Reachy Mini media system initialized
2026-02-10 08:33:27,399 - reachy_mini_ha_voice.audio.microphone - INFO - AGC enabled (PP_AGCONOFF=1) [default]
2026-02-10 08:33:27,404 - reachy_mini_ha_voice.audio.microphone - INFO - AGC max gain set (PP_AGCMAXGAIN=30.0dB) [default]
2026-02-10 08:33:27,409 - reachy_mini_ha_voice.audio.microphone - INFO - Microphone gain increased (AUDIO_MGR_MIC_GAIN=2.0)
2026-02-10 08:33:27,413 - reachy_mini_ha_voice.audio.microphone - INFO - Noise suppression set to 15% strength (PP_MIN_NS=0.85) [default]
2026-02-10 08:33:27,416 - reachy_mini_ha_voice.audio.microphone - INFO - Microphone settings initialized (AGC=ON, MaxGain=30dB, NoiseSuppression=15%)
2026-02-10 08:33:27,418 - reachy_mini_ha_voice.motion.movement_manager - INFO - Initialized with idle animation on startup
2026-02-10 08:33:27,420 - reachy_mini_ha_voice.motion.movement_manager - INFO - Movement manager control loop started (50 Hz)
2026-02-10 08:33:27,421 - reachy_mini_ha_voice.motion.movement_manager - INFO - Movement manager started
2026-02-10 08:33:27,426 - reachy_mini_ha_voice.motion.reachy_motion - INFO - Motion control started
2026-02-10 08:33:27,427 - reachy_mini_ha_voice.voice_assistant - INFO - Starting audio processing using Reachy Mini's microphone...
2026-02-10 08:33:28,686 - reachy_mini_ha_voice.audio.audio_player - INFO - Starting Sendspin server discovery...
2026-02-10 08:33:28,687 - reachy_mini_ha_voice.protocol.zeroconf - INFO - Starting Sendspin server discovery...
2026-02-10 08:33:28,688 - reachy_mini_ha_voice.core.daemon_monitor - INFO - DaemonStateMonitor started
2026-02-10 08:33:28,688 - reachy_mini_ha_voice.core.sleep_manager - INFO - SleepManager started
2026-02-10 08:33:28,688 - reachy_mini_ha_voice.voice_assistant - INFO - Sleep manager started
2026-02-10 08:33:28,688 - reachy_mini_ha_voice.voice_assistant - INFO - Voice assistant service started on 0.0.0.0:6053
2026-02-10 08:33:28,692 - reachy_mini_ha_voice.protocol.zeroconf - INFO - Sendspin discovery started, waiting for servers...
2026-02-10 08:33:28,694 - __main__ - INFO - ==================================================
2026-02-10 08:33:28,694 - __main__ - INFO - Reachy Mini for Home Assistant Started!
2026-02-10 08:33:28,695 - __main__ - INFO - ==================================================
2026-02-10 08:33:28,695 - __main__ - INFO - ESPHome Server: 0.0.0.0:6053
2026-02-10 08:33:28,695 - __main__ - INFO - Camera Server: 0.0.0.0:8081
2026-02-10 08:33:28,695 - __main__ - INFO - Wake word: Okay Nabu
2026-02-10 08:33:28,695 - __main__ - INFO - Motion control: enabled
2026-02-10 08:33:28,695 - __main__ - INFO - Camera: enabled (Reachy Mini)
2026-02-10 08:33:28,695 - __main__ - INFO - ==================================================
2026-02-10 08:33:28,696 - __main__ - INFO - To connect from Home Assistant:
2026-02-10 08:33:28,696 - __main__ - INFO - Settings -> Devices & Services -> Add Integration
2026-02-10 08:33:28,696 - __main__ - INFO - -> ESPHome -> Enter this device's IP:6053
2026-02-10 08:33:28,696 - __main__ - INFO - -> Generic Camera -> http://<ip>:8081/stream
2026-02-10 08:33:28,696 - __main__ - INFO - ==================================================
2026-02-10 08:33:28,698 - reachy_mini_ha_voice.protocol.satellite - INFO - VoiceSatelliteProtocol.__init__ called - new connection
2026-02-10 08:33:28,700 - reachy_mini_ha_voice.reachy_controller - INFO - MovementManager set for ReachyController
2026-02-10 08:33:28,707 - reachy_mini_ha_voice.protocol.satellite - INFO - Speech sway callback configured for TTS player
2026-02-10 08:33:28,709 - reachy_mini_ha_voice.protocol.satellite - INFO - Gesture action mapper initialized
2026-02-10 08:33:28,709 - reachy_mini_ha_voice.protocol.satellite - INFO - Event emotion mapper initialized
2026-02-10 08:33:28,710 - reachy_mini_ha_voice.protocol.satellite - INFO - Checking entity initialization state...
2026-02-10 08:33:28,710 - reachy_mini_ha_voice.protocol.satellite - INFO - Setting up entities for first time...
2026-02-10 08:33:28,710 - reachy_mini_ha_voice.protocol.satellite - INFO - Creating MediaPlayerEntity...
2026-02-10 08:33:28,710 - reachy_mini_ha_voice.protocol.satellite - INFO - MediaPlayerEntity created
2026-02-10 08:33:28,710 - reachy_mini_ha_voice.protocol.satellite - INFO - Setting up all entities via registry...
2026-02-10 08:33:28,710 - reachy_mini_ha_voice.entities.entity_keys - WARNING - Entity key not found for mute, generating from hash
2026-02-10 08:33:28,711 - reachy_mini_ha_voice.entities.entity_keys - WARNING - Entity key not found for camera_disabled, generating from hash
2026-02-10 08:33:28,713 - reachy_mini_ha_voice.core.system_diagnostics - INFO - SystemDiagnostics initialized
2026-02-10 08:33:28,714 - reachy_mini_ha_voice.entities.entity_registry - INFO - All entities registered: 60 total
2026-02-10 08:33:28,717 - reachy_mini_ha_voice.protocol.satellite - INFO - Entities initialized: 60 total
2026-02-10 08:33:28,718 - reachy_mini_ha_voice.protocol.satellite - INFO - VoiceSatelliteProtocol.__init__ completed
2026-02-10 08:33:28,721 - reachy_mini_ha_voice.protocol.satellite - INFO - ESPHome client connected from ('10.0.0.35', 44110)
2026-02-10 08:33:28,727 - reachy_mini_ha_voice.protocol.api_server - INFO - ESPHome client connected from ('10.0.0.35', 44110)
2026-02-10 08:33:28,730 - reachy_mini_ha_voice.protocol.api_server - INFO - HelloRequest received, sending HelloResponse
2026-02-10 08:33:28,731 - reachy_mini_ha_voice.protocol.api_server - INFO - AuthenticationRequest received, sending AuthenticationResponse
2026-02-10 08:33:28,733 - reachy_mini_ha_voice.voice_assistant - INFO - Active wake words updated: ['okay_nabu'] (features reset)
2026-02-10 08:33:28,737 - reachy_mini_ha_voice.protocol.satellite - INFO - DeviceInfoRequest received, sending DeviceInfoResponse
2026-02-10 08:33:28,749 - reachy_mini_ha_voice.voice_assistant - INFO - Audio input: sample_rate=16000 Hz, shape=(1024, 2), dtype=float32 (expected 16000 Hz)
2026-02-10 08:33:28,757 - reachy_mini_ha_voice.protocol.satellite - INFO - Connected to Home Assistant
2026-02-10 08:33:28,761 - reachy_mini_ha_voice.voice_assistant - INFO - Home Assistant connected - initializing camera and voice services
2026-02-10 08:33:28,764 - reachy_mini_ha_voice.vision.camera_server - INFO - Detected media backend: GStreamer
/venvs/apps_venv/lib/python3.12/site-packages/pymicro_wakeword/microwakeword.py:207: RuntimeWarning: invalid value encountered in cast
).astype(np.uint8)
RuntimeWarning: invalid value encountered in cast
RuntimeWarning: invalid value encountered in cast
2026-02-10 08:33:32,095 - matplotlib.style.core - WARNING - In /venvs/apps_venv/lib/python3.12/site-packages/matplotlib/mpl-data/stylelib/seaborn-v0_8-paper.mplstyle: invalid value encountered in cast
2026-02-10 08:33:32,142 - matplotlib.style.core - WARNING - In /venvs/apps_venv/lib/python3.12/site-packages/matplotlib/mpl-data/stylelib/seaborn-v0_8-muted.mplstyle: invalid value encountered in cast
RuntimeWarning: invalid value encountered in cast
RuntimeWarning: invalid value encountered in cast
2026-02-10 08:33:32,523 - reachy_mini.media.camera_base - INFO - Pipeline latency (live=True, min_latency=20000000, max_latency=1000000000)
2026-02-10 08:33:32,535 - reachy_mini.media.audio_base - INFO - Audio pipeline latency (live=False, min_latency=0, max_latency=18446744073709551615)
Illegal instruction
If anyone encountered this before. Let me know how I can resolve this, thank you.
Took a closer look since I had the time. Asked Claude for a diagnosis:
● The dry-run confirms torch==2.5.1 + torchvision==0.20.1 are available and compatible. Ultralytics doesn't pin a specific torch version — it just requires torch and torchvision.
Here's the summary:
---
🔍 Diagnosis Complete
What's crashing
/venvs/apps_venv/bin/python -m reachy_mini_ha_voice crashes with SIGILL (Illegal Instruction), exit code 132.
Root cause
PyTorch 2.10.0 is incompatible with the Raspberry Pi CM4's Cortex-A72 CPU.
┌──────────────┬────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┐
│ Component │ Detail │
├──────────────┼────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┤
│ CPU │ Cortex-A72 (ARMv8.0-A) — features: fp asimd evtstrm crc32 cpuid │
├──────────────┼────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┤
│ torch 2.10.0 │ Built with manylinux_2_28_aarch64, includes ARM Compute Library using sdot/udot (ARMv8.2-A dot product) — 30,040 such instructions │
├──────────────┼────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┤
│ Result │ CPU encounters instructions it can't execute → kernel sends SIGILL → process killed │
└──────────────┴────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┘
Crash path
__main__.py → VoiceAssistantService → Home Assistant connects →
initializes camera/vision → imports ultralytics → imports torch →
loads libarm_compute.so → SIGILL 💥
Fix
Downgrade to torch==2.5.1 + torchvision==0.20.1 (last versions using manylinux2014_aarch64, compatible with ARMv8.0):
/venvs/apps_venv/bin/pip install "torch==2.5.1" "torchvision==0.20.1"
Optionally, pin in pyproject.toml to prevent future upgrades:
"torch>=2.5.0,<2.6.0",
"torchvision>=0.20.0,<0.21.0",
★ Insight ─────────────────────────────────────
- Why exit code 132? Unix exit codes above 128 mean "killed by signal N" where N = exit_code - 128. So 132 = signal 4 = SIGILL.
- Why did this break? PyTorch switched from manylinux2014 to manylinux_2_28 wheels at version 2.6.0, and the newer ARM Compute Library bundles require ARMv8.2-A features (dot product). The Cortex-A72 predates this extension.
- Long-term: If you upgrade to a Raspberry Pi 5 (Cortex-A76, ARMv8.2-A with dotprod), torch 2.10+ would work fine.
─────────────────────────────────────────────────
Would you like me to go ahead and install the downgraded packages?
After downgrading torch it works as expected. Looks like some Reachy Mini only come with CM4 like mine and some have CM5 which supports newer arm instructions.
Hope this helps somebody
fuzzie changed discussion title from
Crash log
to Crash log in Reachy Mini Wireless (CM4 version)
merged
djhui5710 changed discussion status to
closed