$ ffmpeg -vaapi_device /dev/dri/renderD128 -i "inputfile.mp4" -vf format=nv12,hwupload -c:v hevc_vaapi -qp 25 -map 0 outputfile.mp4

result:
Code:
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 'file.mp4':

  Metadata:
    major_brand     : isom
    minor_version   : 512
    compatible_brands: isomiso2avc1mp41
    encoder         : Lavf54.3.100
  Duration: 00:05:08.55, start: 0.000000, bitrate: 6466 kb/s
  Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p, 1920x1080 [SAR 1:1 DAR 16:9], 6012 kb/s, 29.97 fps, 29.97 tbr, 30k tbn, 59.94 tbc (default)
    Metadata:
      handler_name    : VideoHandler
      vendor_id       : [0][0][0][0]
  Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 48000 Hz, stereo, fltp, 192 kb/s (default)
    Metadata:
      handler_name    : SoundHandler
      vendor_id       : [0][0][0][0]
  Stream #0:2(und): Data: none (rtp  / 0x20707472), 246 kb/s (default)
    Metadata:
      creation_time   : 2012-10-23T05:54:36.000000Z
      handler_name    : GPAC ISO Hint Handler
  Stream #0:3(und): Data: none (rtp  / 0x20707472), 11 kb/s (default)
    Metadata:
      creation_time   : 2012-10-23T05:54:37.000000Z
      handler_name    : GPAC ISO Hint Handler
Stream mapping:
  Stream #0:0 -> #0:0 (h264 (native) -> hevc (hevc_vaapi))
  Stream #0:1 -> #0:1 (aac (native) -> aac (native))
  Stream #0:2 -> #0:2 (copy)
  Stream #0:3 -> #0:3 (copy)
Press [q] to stop, [?] for help
[mp4 @ 0x55a85b8a7080] Could not find tag for codec none in stream #2, codec not currently supported in container
Could not write header for output file #0 (incorrect codec parameters ?): Invalid argument
Error initializing output stream 0:0 -- 
[aac @ 0x55a85b8d9580] Qavg: 22076.676
[aac @ 0x55a85b8d9580] 2 frames left in the queue on closing
Conversion failed!
The stupid FFmpeg developers were unable to return error that would be readable to a regular user so he knows what to modify.

After some time, i have figured out that the cause is possibly the rtp kind of streams that fails to be added to a output file and that i need to remove "-map 0" parameter which attempts to use all streams. After removing, it completed without error.