I found out that my problem actually is related to the Vulkan loader. It is not running properly as I expected, so neither vulkan nor VR steam can boot properly and that's also where the Initialization is failed is referring to in the log. Sorry for bring this here, it's actually unrelated. I also advise others who got the same problem to check Vulkan first.
Nothing extracted yet.
Description of error
When I start SteamVR from Steam, this error popped and I've looked up online, but did not find any solution works for me. I am using HTC Vive and the headset, controller and base station can all be detected but SteamVR fails.
System info
Note
SteamVR Beta + Beta client: tried, not working
Set runtime = 0 or 1: tried, not working
System report
Ubuntu terminal log
The error appeared after the log Initialization() is failed!!!