Duckietown Challenges Home Challenges Submissions

Submission 14496

Submission14496
Competingyes
Challengemooc-BV1
UserPatricio Cortes Estay
Date submitted
Last status update
Completecomplete
DetailsEvaluation is complete.
Sisters
Result💚
Jobssim-0of5: 112969 sim-1of5: 112948 sim-2of5: 112946 sim-3of5: 112971 sim-4of5: 112961
Next
User labelexercises_braitenberg
Admin priority50
Blessingn/a
User priority50

112971

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d30

112969

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d45

112961

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d50

112948

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d60

112946

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d40

Evaluation jobs for this submission

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Job IDstepstatusup to datedate starteddate completeddurationmessage
112971sim-3of5successyes0:04:00
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distance-from-start_mean5.6366241315505885


other stats
deviation-center-line_max0.0
deviation-center-line_mean0.0
deviation-center-line_median0.0
deviation-center-line_min0.0
deviation-heading_max0.0
deviation-heading_mean0.0
deviation-heading_median0.0
deviation-heading_min0.0
distance-from-start_max5.6366241315505885
distance-from-start_median5.6366241315505885
distance-from-start_min5.6366241315505885
driven_any_max5.851613343587526
driven_any_mean5.851613343587526
driven_any_median5.851613343587526
driven_any_min5.851613343587526
driven_lanedir_consec_max0.0
driven_lanedir_consec_mean0.0
driven_lanedir_consec_median0.0
driven_lanedir_consec_min0.0
driven_lanedir_max0.0
driven_lanedir_mean0.0
driven_lanedir_median0.0
driven_lanedir_min0.0
in-drivable-lane_max48.89999999999936
in-drivable-lane_mean48.89999999999936
in-drivable-lane_median48.89999999999936
in-drivable-lane_min48.89999999999936
per-episodes
details{"d30-ego0": {"driven_any": 5.851613343587526, "survival_time": 48.89999999999936, "driven_lanedir": 0.0, "in-drivable-lane": 48.89999999999936, "deviation-heading": 0.0, "distance-from-start": 5.6366241315505885, "deviation-center-line": 0.0, "driven_lanedir_consec": 0.0}}
simulation-passed1
survival_time_max48.89999999999936
survival_time_mean48.89999999999936
survival_time_median48.89999999999936
survival_time_min48.89999999999936
No reset possible
112969sim-0of5successyes0:04:10
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
distance-from-start_mean4.074282381609276


other stats
deviation-center-line_max0.0
deviation-center-line_mean0.0
deviation-center-line_median0.0
deviation-center-line_min0.0
deviation-heading_max0.0
deviation-heading_mean0.0
deviation-heading_median0.0
deviation-heading_min0.0
distance-from-start_max4.074282381609276
distance-from-start_median4.074282381609276
distance-from-start_min4.074282381609276
driven_any_max5.039117274227557
driven_any_mean5.039117274227557
driven_any_median5.039117274227557
driven_any_min5.039117274227557
driven_lanedir_consec_max0.0
driven_lanedir_consec_mean0.0
driven_lanedir_consec_median0.0
driven_lanedir_consec_min0.0
driven_lanedir_max0.0
driven_lanedir_mean0.0
driven_lanedir_median0.0
driven_lanedir_min0.0
in-drivable-lane_max41.1999999999998
in-drivable-lane_mean41.1999999999998
in-drivable-lane_median41.1999999999998
in-drivable-lane_min41.1999999999998
per-episodes
details{"d45-ego0": {"driven_any": 5.039117274227557, "survival_time": 41.1999999999998, "driven_lanedir": 0.0, "in-drivable-lane": 41.1999999999998, "deviation-heading": 0.0, "distance-from-start": 4.074282381609276, "deviation-center-line": 0.0, "driven_lanedir_consec": 0.0}}
simulation-passed1
survival_time_max41.1999999999998
survival_time_mean41.1999999999998
survival_time_median41.1999999999998
survival_time_min41.1999999999998
No reset possible
112961sim-4of5successyes0:04:32
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distance-from-start_mean5.061973305479618


other stats
deviation-center-line_max0.0
deviation-center-line_mean0.0
deviation-center-line_median0.0
deviation-center-line_min0.0
deviation-heading_max0.0
deviation-heading_mean0.0
deviation-heading_median0.0
deviation-heading_min0.0
distance-from-start_max5.061973305479618
distance-from-start_median5.061973305479618
distance-from-start_min5.061973305479618
driven_any_max5.394680606908788
driven_any_mean5.394680606908788
driven_any_median5.394680606908788
driven_any_min5.394680606908788
driven_lanedir_consec_max0.0
driven_lanedir_consec_mean0.0
driven_lanedir_consec_median0.0
driven_lanedir_consec_min0.0
driven_lanedir_max0.0
driven_lanedir_mean0.0
driven_lanedir_median0.0
driven_lanedir_min0.0
in-drivable-lane_max42.8999999999997
in-drivable-lane_mean42.8999999999997
in-drivable-lane_median42.8999999999997
in-drivable-lane_min42.8999999999997
per-episodes
details{"d50-ego0": {"driven_any": 5.394680606908788, "survival_time": 42.8999999999997, "driven_lanedir": 0.0, "in-drivable-lane": 42.8999999999997, "deviation-heading": 0.0, "distance-from-start": 5.061973305479618, "deviation-center-line": 0.0, "driven_lanedir_consec": 0.0}}
simulation-passed1
survival_time_max42.8999999999997
survival_time_mean42.8999999999997
survival_time_median42.8999999999997
survival_time_min42.8999999999997
No reset possible
112951sim-3of5successyes0:04:03
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112950sim-0of5successyes0:03:53
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112949sim-4of5successyes0:02:30
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112948sim-1of5successyes0:02:58
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distance-from-start_mean2.547444919126867


other stats
deviation-center-line_max0.0
deviation-center-line_mean0.0
deviation-center-line_median0.0
deviation-center-line_min0.0
deviation-heading_max0.0
deviation-heading_mean0.0
deviation-heading_median0.0
deviation-heading_min0.0
distance-from-start_max2.547444919126867
distance-from-start_median2.547444919126867
distance-from-start_min2.547444919126867
driven_any_max2.708663011239141
driven_any_mean2.708663011239141
driven_any_median2.708663011239141
driven_any_min2.708663011239141
driven_lanedir_consec_max0.0
driven_lanedir_consec_mean0.0
driven_lanedir_consec_median0.0
driven_lanedir_consec_min0.0
driven_lanedir_max0.0
driven_lanedir_mean0.0
driven_lanedir_median0.0
driven_lanedir_min0.0
in-drivable-lane_max21.45000000000017
in-drivable-lane_mean21.45000000000017
in-drivable-lane_median21.45000000000017
in-drivable-lane_min21.45000000000017
per-episodes
details{"d60-ego0": {"driven_any": 2.708663011239141, "survival_time": 21.45000000000017, "driven_lanedir": 0.0, "in-drivable-lane": 21.45000000000017, "deviation-heading": 0.0, "distance-from-start": 2.547444919126867, "deviation-center-line": 0.0, "driven_lanedir_consec": 0.0}}
simulation-passed1
survival_time_max21.45000000000017
survival_time_mean21.45000000000017
survival_time_median21.45000000000017
survival_time_min21.45000000000017
No reset possible
112946sim-2of5successyes0:04:32
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
distance-from-start_mean5.29041434722941


other stats
deviation-center-line_max0.0
deviation-center-line_mean0.0
deviation-center-line_median0.0
deviation-center-line_min0.0
deviation-heading_max0.0
deviation-heading_mean0.0
deviation-heading_median0.0
deviation-heading_min0.0
distance-from-start_max5.29041434722941
distance-from-start_median5.29041434722941
distance-from-start_min5.29041434722941
driven_any_max5.734536627940164
driven_any_mean5.734536627940164
driven_any_median5.734536627940164
driven_any_min5.734536627940164
driven_lanedir_consec_max0.0
driven_lanedir_consec_mean0.0
driven_lanedir_consec_median0.0
driven_lanedir_consec_min0.0
driven_lanedir_max0.0
driven_lanedir_mean0.0
driven_lanedir_median0.0
driven_lanedir_min0.0
in-drivable-lane_max46.4499999999995
in-drivable-lane_mean46.4499999999995
in-drivable-lane_median46.4499999999995
in-drivable-lane_min46.4499999999995
per-episodes
details{"d40-ego0": {"driven_any": 5.734536627940164, "survival_time": 46.4499999999995, "driven_lanedir": 0.0, "in-drivable-lane": 46.4499999999995, "deviation-heading": 0.0, "distance-from-start": 5.29041434722941, "deviation-center-line": 0.0, "driven_lanedir_consec": 0.0}}
simulation-passed1
survival_time_max46.4499999999995
survival_time_mean46.4499999999995
survival_time_median46.4499999999995
survival_time_min46.4499999999995
No reset possible
93394sim-0of5successno0:07:27
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93393sim-3of5successno0:06:59
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93392sim-2of5successno0:07:52
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93388sim-1of5successno0:08:20
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93387sim-4of5successno0:09:28
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73392sim-0of5successno0:08:26
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73118sim-2of5successno0:08:08
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73116sim-3of5successno0:07:53
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73094sim-4of5successno0:07:53
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73093sim-1of5successno0:07:36
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69893sim-3of5errorno0:06:14
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 352, in main
    evaluated = read_and_draw(fn, dn_i, pc_name)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 257, in read_and_draw
    log0 = read_simulator_log_cbor(ld, main_robot_name=robot_main)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 223, in read_simulator_log_cbor
    pose2 = SE2Transform.from_SE2(pose)
  File "/usr/local/lib/python3.8/site-packages/duckietown_world/geo/transforms.py", line 102, in from_SE2
    translation, angle = geo.translation_angle_from_SE2(q)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 235, in translation_angle_from_SE2
    R, t, _, _ = extract_pieces(pose)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 144, in extract_pieces
    M = x.shape[0] - 1
AttributeError: 'FriendlyPose' object has no attribute 'shape'

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 412, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
69886sim-3of5errorno0:04:08
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 352, in main
    evaluated = read_and_draw(fn, dn_i, pc_name)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 257, in read_and_draw
    log0 = read_simulator_log_cbor(ld, main_robot_name=robot_main)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 223, in read_simulator_log_cbor
    pose2 = SE2Transform.from_SE2(pose)
  File "/usr/local/lib/python3.8/site-packages/duckietown_world/geo/transforms.py", line 102, in from_SE2
    translation, angle = geo.translation_angle_from_SE2(q)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 235, in translation_angle_from_SE2
    R, t, _, _ = extract_pieces(pose)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 144, in extract_pieces
    M = x.shape[0] - 1
AttributeError: 'FriendlyPose' object has no attribute 'shape'

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 412, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
69885sim-4of5errorno0:06:59
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 352, in main
    evaluated = read_and_draw(fn, dn_i, pc_name)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 257, in read_and_draw
    log0 = read_simulator_log_cbor(ld, main_robot_name=robot_main)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 223, in read_simulator_log_cbor
    pose2 = SE2Transform.from_SE2(pose)
  File "/usr/local/lib/python3.8/site-packages/duckietown_world/geo/transforms.py", line 102, in from_SE2
    translation, angle = geo.translation_angle_from_SE2(q)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 235, in translation_angle_from_SE2
    R, t, _, _ = extract_pieces(pose)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 144, in extract_pieces
    M = x.shape[0] - 1
AttributeError: 'FriendlyPose' object has no attribute 'shape'

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 412, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
69884sim-2of5errorno0:06:25
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 352, in main
    evaluated = read_and_draw(fn, dn_i, pc_name)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 257, in read_and_draw
    log0 = read_simulator_log_cbor(ld, main_robot_name=robot_main)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 223, in read_simulator_log_cbor
    pose2 = SE2Transform.from_SE2(pose)
  File "/usr/local/lib/python3.8/site-packages/duckietown_world/geo/transforms.py", line 102, in from_SE2
    translation, angle = geo.translation_angle_from_SE2(q)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 235, in translation_angle_from_SE2
    R, t, _, _ = extract_pieces(pose)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 144, in extract_pieces
    M = x.shape[0] - 1
AttributeError: 'FriendlyPose' object has no attribute 'shape'

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 412, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
69882sim-0of5errorno0:06:11
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 352, in main
    evaluated = read_and_draw(fn, dn_i, pc_name)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 257, in read_and_draw
    log0 = read_simulator_log_cbor(ld, main_robot_name=robot_main)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 223, in read_simulator_log_cbor
    pose2 = SE2Transform.from_SE2(pose)
  File "/usr/local/lib/python3.8/site-packages/duckietown_world/geo/transforms.py", line 102, in from_SE2
    translation, angle = geo.translation_angle_from_SE2(q)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 235, in translation_angle_from_SE2
    R, t, _, _ = extract_pieces(pose)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 144, in extract_pieces
    M = x.shape[0] - 1
AttributeError: 'FriendlyPose' object has no attribute 'shape'

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 412, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
69881sim-1of5errorno0:06:40
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 352, in main
    evaluated = read_and_draw(fn, dn_i, pc_name)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 257, in read_and_draw
    log0 = read_simulator_log_cbor(ld, main_robot_name=robot_main)
  File "/usr/local/lib/python3.8/site-packages/aido_analyze/utils_drawing.py", line 223, in read_simulator_log_cbor
    pose2 = SE2Transform.from_SE2(pose)
  File "/usr/local/lib/python3.8/site-packages/duckietown_world/geo/transforms.py", line 102, in from_SE2
    translation, angle = geo.translation_angle_from_SE2(q)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 235, in translation_angle_from_SE2
    R, t, _, _ = extract_pieces(pose)
  File "/usr/local/lib/python3.8/site-packages/geometry/poses.py", line 144, in extract_pieces
    M = x.shape[0] - 1
AttributeError: 'FriendlyPose' object has no attribute 'shape'

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 412, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68772sim-2of5errorno0:00:37
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7fd85650e5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7fd85650e5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d40}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd40'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68771sim-2of5errorno0:00:36
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7fb33ce135b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7fb33ce135b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d40}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd40'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68770sim-2of5errorno0:00:37
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f0c6fee85b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f0c6fee85b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d40}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd40'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68769sim-2of5errorno0:00:38
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f4fa30435b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f4fa30435b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d40}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd40'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68768sim-2of5errorno0:00:48
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f2c4e37d5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f2c4e37d5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d40}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd40'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68767sim-4of5errorno0:00:36
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7fb4907745b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7fb4907745b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d60}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd60'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68766sim-0of5errorno0:00:37
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7faaa15535b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7faaa15535b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d45}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd45'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68760sim-4of5errorno0:00:36
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f92fc2f35b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f92fc2f35b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d60}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd60'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68758sim-0of5errorno0:00:39
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f00b68265b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f00b68265b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d45}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd45'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68750sim-0of5errorno0:00:34
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f0a0e5dc5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f0a0e5dc5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d45}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd45'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68749sim-4of5errorno0:00:34
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7fccbe9ff5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7fccbe9ff5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d60}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd60'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68744sim-4of5errorno0:00:40
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f97d141c5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f97d141c5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d60}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd60'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68742sim-0of5errorno0:00:39
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f91a635e5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f91a635e5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d45}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd45'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68737sim-4of5errorno0:00:28
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f8b4c2c45b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f8b4c2c45b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d60}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd60'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68735sim-0of5errorno0:00:40
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f65ffee85b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f65ffee85b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d45}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd45'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68729sim-0of5errorno0:00:47
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f1f4b3d75b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f1f4b3d75b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d45}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd45'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68728sim-3of5errorno0:00:48
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f8edda9b5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f8edda9b5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d30}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd30'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68727sim-1of5errorno0:00:49
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7faf24b5d5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7faf24b5d5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d50}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd50'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68661sim-0of5abortedno0:00:36
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f31c461b5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f31c461b5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d45}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd45'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68660sim-1of5abortedno0:00:37
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f1bf4df85b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f1bf4df85b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d50}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd50'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68659sim-4of5abortedno0:00:36
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f8e8fdac5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f8e8fdac5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d60}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd60'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68658sim-3of5abortedno0:00:32
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f3084e705b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f3084e705b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d30}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd30'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68657sim-2of5abortedno0:00:36
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f1af19c95b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f1af19c95b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d40}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd40'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68656sim-2of5abortedno0:00:27
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f58eafdd5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f58eafdd5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d40}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd40'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68655sim-4of5abortedno0:00:37
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7f8ccf7f95b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f8ccf7f95b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d60}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd60'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible
68654sim-3of5abortedno0:00:36
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 312, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 474, in run_episode
    agent_ci.write_topic_and_expect_zero("episode_start", EpisodeStart(episode_name))
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "ego0" aborted:

error in ego0 |Exception while handling a message on topic "episode_start".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
              ||     res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
              ||     return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
              ||     raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
              || zuper_commons.types.exceptions.ZValueError: Cannot find field 'yaml_payload' in data for class EpisodeStart and no default available
              || │  anns: {episode_name: str, yaml_payload: str}
              || │     T: str
              || │ known: [episode_name]
              || │     f: Field(name='yaml_payload',type=<class 'str'>,default=<dataclasses._MISSING_TYPE object at 0x7fc9041ce5b0>,default_factory=<dataclasses._MISSING_TYPE object at 0x7fc9041ce5b0>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 496, in handle_message_node
              ||     ob = object_from_ipce(data, klass, iedo=iedo)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
              ||     raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
              || zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
              || │ expect_type: dataclass aido_schemas.protocol_agent.EpisodeStart
              || │               field episode_name : str
              || │               field yaml_payload : str
              || │                          __doc__    Marker for the start of an episode.
              || │          mj: {episode_name: d30}
              ||
              || The above exception was the direct cause of the following exception:
              ||
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 504, in handle_message_node
              ||     raise DecodingError(msg) from e
              || zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "episode_start" expecting <class 'aido_schemas.protocol_agent.EpisodeStart'>.
              ||
              || parsed: |RawTopicMessage(topic='episode_start', data={'episode_name': 'd30'}, timing=None)
              ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 409, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible