This error normally indicates that the LLAP daemons itself have not started up. (It's been improved in more recent versions). As pointed out in the previous reply, I'd suggest looking into the LLAP configs, NM parameters, AM sizes, and specifically the LLAP logs to figure out why the daemons did not start up. More context: The ZK paths are created by the daemons when they start up. The hive llap client will not create the ZK path if it does not exist, and will end up running into this error if the daemons fail to start.
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