How to run emulator64-arm in a Docker container?
This is not about the root cause but a workaround.
AVD created under Linux will also create "qcow2" files for each image, with these qcow2 files, emulator can successfully start.
But these qcow2 files are not created under any other platforms, I was using an AVD created under Mac and got the error, then I recreated AVD under Linux and the error was gone.