Error while trying to run the Multiclip policy
Rakesh-Paul01 opened this issue · 3 comments
Rakesh-Paul01 commented
Hi,
I used the multiclip policy provided in the storage explorer (both locomotion and the fulldataset).
I run the following command
python mocapact/distillation/evaluate.py --device cuda:0 --visualize --act_noise 0 --always_init_at_clip_start --ghost_offset 1 --policy_path multiclip_policy/locomotion_dataset/model/model.ckpt --clip_snippets CMU_016_22
This opens up the visualizer but when I hit the play there is no movement and a error pops up.
ERROR:absl:dm_control viewer intercepted an environment error.
Original message: The observation provided is a dict but the obs space is Dict('walker/actuator_activation': Box(-inf, inf, (56,), float32), 'walker/appendages_pos': Box(-inf, inf, (15,), float32), 'walker/body_height': Box(-inf, inf, (1,), float32), 'walker/end_effectors_pos': Box(-inf, inf, (12,), float32), 'walker/gyro_anticlockwise_spin': Box(-inf, inf, (1,), float32), 'walker/gyro_backward_roll': Box(-inf, inf, (1,), float32), 'walker/gyro_control': Box(-inf, inf, (3,), float32), 'walker/gyro_rightward_roll': Box(-inf, inf, (1,), float32), 'walker/head_height': Box(-inf, inf, (1,), float32), 'walker/joints_pos': Box(-inf, inf, (56,), float32), 'walker/joints_vel': Box(-inf, inf, (56,), float32), 'walker/joints_vel_control': Box(-inf, inf, (56,), float32), 'walker/orientation': Box(-inf, inf, (9,), float32), 'walker/position': Box(-inf, inf, (3,), float32), 'walker/reference_appendages_pos': Box(-inf, inf, (75,), float32), 'walker/reference_ego_bodies_quats': Box(-inf, inf, (620,), float32), 'walker/reference_rel_bodies_pos_global': Box(-inf, inf, (465,), float32), 'walker/reference_rel_bodies_pos_local': Box(-inf, inf, (465,), float32), 'walker/reference_rel_bodies_quats': Box(-inf, inf, (620,), float32), 'walker/reference_rel_joints': Box(-inf, inf, (280,), float32), 'walker/reference_rel_root_pos_local': Box(-inf, inf, (15,), float32), 'walker/reference_rel_root_quat': Box(-inf, inf, (20,), float32), 'walker/sensors_accelerometer': Box(-inf, inf, (3,), float32), 'walker/sensors_gyro': Box(-inf, inf, (3,), float32), 'walker/sensors_torque': Box(-inf, inf, (6,), float32), 'walker/sensors_touch': Box(-inf, inf, (10,), float32), 'walker/sensors_velocimeter': Box(-inf, inf, (3,), float32), 'walker/time_in_clip': Box(-inf, inf, (1,), float32), 'walker/torso_xvel': Box(-inf, inf, (1,), float32), 'walker/torso_yvel': Box(-inf, inf, (1,), float32), 'walker/veloc_forward': Box(-inf, inf, (1,), float32), 'walker/veloc_strafe': Box(-inf, inf, (1,), float32), 'walker/veloc_up': Box(-inf, inf, (1,), float32), 'walker/velocimeter_control': Box(-inf, inf, (3,), float32), 'walker/world_zaxis': Box(-inf, inf, (3,), float32))
dm_control viewer intercepted an environment error.
Original message: The observation provided is a dict but the obs space is Dict('walker/actuator_activation': Box(-inf, inf, (56,), float32), 'walker/appendages_pos': Box(-inf, inf, (15,), float32), 'walker/body_height': Box(-inf, inf, (1,), float32), 'walker/end_effectors_pos': Box(-inf, inf, (12,), float32), 'walker/gyro_anticlockwise_spin': Box(-inf, inf, (1,), float32), 'walker/gyro_backward_roll': Box(-inf, inf, (1,), float32), 'walker/gyro_control': Box(-inf, inf, (3,), float32), 'walker/gyro_rightward_roll': Box(-inf, inf, (1,), float32), 'walker/head_height': Box(-inf, inf, (1,), float32), 'walker/joints_pos': Box(-inf, inf, (56,), float32), 'walker/joints_vel': Box(-inf, inf, (56,), float32), 'walker/joints_vel_control': Box(-inf, inf, (56,), float32), 'walker/orientation': Box(-inf, inf, (9,), float32), 'walker/position': Box(-inf, inf, (3,), float32), 'walker/reference_appendages_pos': Box(-inf, inf, (75,), float32), 'walker/reference_ego_bodies_quats': Box(-inf, inf, (620,), float32), 'walker/reference_rel_bodies_pos_global': Box(-inf, inf, (465,), float32), 'walker/reference_rel_bodies_pos_local': Box(-inf, inf, (465,), float32), 'walker/reference_rel_bodies_quats': Box(-inf, inf, (620,), float32), 'walker/reference_rel_joints': Box(-inf, inf, (280,), float32), 'walker/reference_rel_root_pos_local': Box(-inf, inf, (15,), float32), 'walker/reference_rel_root_quat': Box(-inf, inf, (20,), float32), 'walker/sensors_accelerometer': Box(-inf, inf, (3,), float32), 'walker/sensors_gyro': Box(-inf, inf, (3,), float32), 'walker/sensors_torque': Box(-inf, inf, (6,), float32), 'walker/sensors_touch': Box(-inf, inf, (10,), float32), 'walker/sensors_velocimeter': Box(-inf, inf, (3,), float32), 'walker/time_in_clip': Box(-inf, inf, (1,), float32), 'walker/torso_xvel': Box(-inf, inf, (1,), float32), 'walker/torso_yvel': Box(-inf, inf, (1,), float32), 'walker/veloc_forward': Box(-inf, inf, (1,), float32), 'walker/veloc_strafe': Box(-inf, inf, (1,), float32), 'walker/veloc_up': Box(-inf, inf, (1,), float32), 'walker/velocimeter_control': Box(-inf, inf, (3,), float32), 'walker/world_zaxis': Box(-inf, inf, (3,), float32))
Traceback:
File "/home/rakesh/anaconda3/envs/newenv/lib/python3.10/site-packages/dm_control/viewer/runtime.py", line 251, in _step
action = self._policy(self._time_step)
File "/home/rakesh/anaconda3/envs/newenv/lib/python3.10/site-packages/torch/utils/_contextlib.py", line 115, in decorate_context
return func(*args, **kwargs)
File "/home/rakesh/Desktop/project/MoCapAct/main.py", line 123, in policy_fn
action, state = policy.predict(env.get_observation(time_step), state, deterministic= deterministic)
File "/home/rakesh/Desktop/project/MoCapAct/mocapact/distillation/model.py", line 194, in predict
observation, vectorized_env = self.obs_to_tensor(observation)
File "/home/rakesh/anaconda3/envs/newenv/lib/python3.10/site-packages/stable_baselines3/common/policies.py", line 247, in obs_to_tensor
assert isinstance(
I feel there is a mismatch in the observations cause the first line says that it expect a dict but given obs space is ....
nolanwagener commented
Hi Rakesh, I saw no problems on my end. Perhaps one of the packages you've installed has made some breaking change at some point.
Here are the packages and their versions on my end. Hopefully, this helps resolve the problem.
Package Version Editable project location
------------------------- --------- -----------------------------
absl-py 1.2.0
aiohttp 3.8.3
aiosignal 1.2.0
anyio 3.5.0
argon2-cffi 21.3.0
argon2-cffi-bindings 21.2.0
asttokens 2.0.5
async-lru 2.0.4
async-timeout 4.0.2
attrs 23.1.0
azure-core 1.25.1
azure-storage-blob 12.9.0
Babel 2.11.0
backcall 0.2.0
beautifulsoup4 4.12.2
bleach 4.1.0
Brotli 1.0.9
brotlipy 0.7.0
cachetools 5.2.0
certifi 2023.7.22
cffi 1.16.0
charset-normalizer 2.0.4
cloudpickle 2.1.0
comm 0.1.2
contextlib2 21.6.0
contourpy 1.0.5
cryptography 41.0.3
cycler 0.11.0
debugpy 1.6.7
decorator 5.1.1
defusedxml 0.7.1
dm-control 1.0.7
dm-env 1.5
dm-tree 0.1.7
entrypoints 0.4
executing 0.8.3
fastjsonschema 2.16.2
filelock 3.9.0
flit_core 3.9.0
fonttools 4.37.3
frozenlist 1.2.0
fsspec 2022.8.2
glfw 2.5.5
gmpy2 2.1.2
google-auth 2.12.0
google-auth-oauthlib 0.4.6
grpcio 1.49.1
gym 0.21.0
h5py 3.7.0
idna 3.4
imageio 2.22.0
imageio-ffmpeg 0.4.7
importlib-metadata 4.12.0
importlib-resources 6.1.0
ipykernel 6.25.0
ipython 8.12.2
ipython-genutils 0.2.0
isodate 0.6.1
jedi 0.18.1
Jinja2 3.1.2
json5 0.9.6
jsonschema 4.19.2
jsonschema-specifications 2023.7.1
jupyter_client 8.6.0
jupyter_core 5.5.0
jupyter-events 0.8.0
jupyter-lsp 2.2.0
jupyter_server 2.10.0
jupyter_server_terminals 0.4.4
jupyterlab 4.0.9
jupyterlab-pygments 0.1.2
jupyterlab_server 2.25.1
kiwisolver 1.4.4
labmaze 1.0.5
lxml 4.9.1
Markdown 3.4.1
MarkupSafe 2.1.1
matplotlib 3.6.0
matplotlib-inline 0.1.6
mediapy 1.1.1
mistune 2.0.4
ml-collections 0.1.1
mocapact 0.1 /home/nolan/projects/MoCapAct
motion-imitation 0.0.6
mpmath 1.3.0
msrest 0.7.1
mujoco 2.2.2
multidict 6.0.2
nbclassic 1.0.0
nbclient 0.8.0
nbconvert 7.10.0
nbformat 5.9.2
nest-asyncio 1.5.6
networkx 3.1
notebook 7.0.6
notebook_shim 0.2.3
numpy 1.23.3
oauthlib 3.2.1
overrides 7.4.0
packaging 23.1
pandas 1.5.0
pandocfilters 1.5.0
parso 0.8.3
pexpect 4.8.0
pickleshare 0.7.5
Pillow 10.0.1
pip 23.3
pkgutil_resolve_name 1.3.10
platformdirs 3.10.0
prometheus-client 0.14.1
prompt-toolkit 3.0.36
protobuf 3.19.4
psutil 5.9.0
ptyprocess 0.7.0
pure-eval 0.2.2
pyasn1 0.4.8
pyasn1-modules 0.2.8
pycparser 2.21
pyDeprecate 0.3.1
Pygments 2.15.1
PyOpenGL 3.1.6
pyOpenSSL 23.2.0
pyparsing 2.4.7
pyrsistent 0.18.0
PySocks 1.7.1
python-dateutil 2.8.2
python-json-logger 2.0.7
pytorch-lightning 1.6.4
pytz 2022.2.1
PyYAML 6.0.1
pyzmq 25.1.0
referencing 0.30.2
requests 2.31.0
requests-oauthlib 1.3.1
rfc3339-validator 0.1.4
rfc3986-validator 0.1.1
rpds-py 0.10.6
rsa 4.9
scipy 1.9.1
Send2Trash 1.8.2
setuptools 68.0.0
six 1.16.0
sniffio 1.2.0
soupsieve 2.5
stable-baselines3 1.5.0
stack-data 0.2.0
svgwrite 1.4.1
sympy 1.11.1
tensorboard 2.10.1
tensorboard-data-server 0.6.1
tensorboard-plugin-wit 1.8.1
terminado 0.17.1
testpath 0.6.0
tinycss2 1.2.1
tomli 2.0.1
torch 1.12.1
torchaudio 2.0.2
torchmetrics 0.6.2
torchvision 0.15.2
tornado 6.3.3
tqdm 4.64.1
traitlets 5.7.1
Tree 0.2.4
typing_extensions 4.7.1
urllib3 1.26.18
wcwidth 0.2.5
webencodings 0.5.1
websocket-client 0.58.0
Werkzeug 2.2.2
wheel 0.41.2
yarl 1.8.1
zipp 3.11.0
Rakesh-Paul01 commented
Hi @nolanwagener Thanks for the reply.
The most probable reason I feel might be gym. pip install gym==0.21 doesn't work out of the box now a days. in order to install it I had to first do pip install wheel==0.38.4 setuptools==66.0.0
then running the same thing gives this message below. (The snippet which was given in the previous comment didn't use gym==0.21)
Original message: The observation provided is a dict but the obs space is Dict(walker/actuator_activation:Box([-inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf
-inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf
-inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf
-inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf], [inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf
inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf
inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf
which still gives more weird errors
Could you confirm a few things for me?
- Did you try it with the multiclip policy given in the storage explorer?
- If yes, could you give the keys of the observations in (
MoCapAct/mocapact/distillation/model.py
Line 169 in 8f01663
Thank you.
Rakesh-Paul01 commented
Hi @nolanwagener I found out that the issue was in stable-baselines3. With the specified version which you mentioned it worked.
so pip install stable-baselines3==1.5.0 is the key to make it working.
Thank you.