Submission 17959

The container "solution-ego0" exited with code 1.


Look at the logs for the container to know more about the error.

The container "solution-ego0" exited with code 1.


Look at the logs for the container to know more about the error.

InvalidSubmission:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 343, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 720, in run_episode
    msg = await loop.run_in_executor(executor, f)
  File "/usr/lib/python3.8/concurrent/futures/thread.py", line 57, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 243, in read_one
    msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, 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 "get_commands".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 416, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 589, in handle_message_node
              ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
              ||     f(**kwargs)
              ||   File "solution.py", line 68, in on_received_get_commands
              ||     pwm_left, pwm_right = self.compute_action(self.current_image)
              ||   File "solution.py", line 63, in compute_action
              ||     action = self.model.compute_action(observation, explore=False)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
              ||     return obj(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
              ||     return self.compute_single_action(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
              ||     action, state, extra = policy.compute_single_action(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
              ||     out = self.compute_actions_from_input_dict(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
              ||     return self._compute_action_helper(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
              ||     return func(self, *a, **k)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 366, in _compute_action_helper
              ||     dist_inputs, state_out = self.model(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/modelv2.py", line 243, in __call__
              ||     res = self.forward(restored, state or [], seq_lens)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 222, in forward
              ||     raise ValueError(
              || ValueError: Given `conv_filters` ([[16, [8, 8], 4], [32, [4, 4], 2], [256, [11, 11], 1]]) do not result in a [B, 2 (`num_outputs`), 1, 1] shape (but in [1, 2, 50, 70])! Please adjust your Conv2D stack such that the last 2 dims are both 1.
              ||

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

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 423, in main
    raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: external protocol violation

The container "solution-ego0" exited with code 1.


Look at the logs for the container to know more about the error.

The container "solution-ego0" exited with code 1.


Look at the logs for the container to know more about the error.

InvalidSubmission:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 343, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 720, in run_episode
    msg = await loop.run_in_executor(executor, f)
  File "/usr/lib/python3.8/concurrent/futures/thread.py", line 57, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 243, in read_one
    msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, 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 "get_commands".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 416, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 589, in handle_message_node
              ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
              ||     f(**kwargs)
              ||   File "solution.py", line 68, in on_received_get_commands
              ||     pwm_left, pwm_right = self.compute_action(self.current_image)
              ||   File "solution.py", line 63, in compute_action
              ||     action = self.model.compute_action(observation, explore=False)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
              ||     return obj(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
              ||     return self.compute_single_action(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
              ||     action, state, extra = policy.compute_single_action(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
              ||     out = self.compute_actions_from_input_dict(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
              ||     return self._compute_action_helper(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
              ||     return func(self, *a, **k)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 366, in _compute_action_helper
              ||     dist_inputs, state_out = self.model(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/modelv2.py", line 243, in __call__
              ||     res = self.forward(restored, state or [], seq_lens)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 222, in forward
              ||     raise ValueError(
              || ValueError: Given `conv_filters` ([[16, [8, 8], 4], [32, [4, 4], 2], [256, [11, 11], 1]]) do not result in a [B, 2 (`num_outputs`), 1, 1] shape (but in [1, 2, 50, 70])! Please adjust your Conv2D stack such that the last 2 dims are both 1.
              ||

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

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 423, in main
    raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: external protocol violation

InvalidSubmission:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 343, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 720, in run_episode
    msg = await loop.run_in_executor(executor, f)
  File "/usr/lib/python3.8/concurrent/futures/thread.py", line 57, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 243, in read_one
    msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, 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 "get_commands".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 416, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 589, in handle_message_node
              ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
              ||     f(**kwargs)
              ||   File "solution.py", line 68, in on_received_get_commands
              ||     pwm_left, pwm_right = self.compute_action(self.current_image)
              ||   File "solution.py", line 63, in compute_action
              ||     action = self.model.compute_action(observation, explore=False)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
              ||     return obj(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
              ||     return self.compute_single_action(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
              ||     action, state, extra = policy.compute_single_action(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
              ||     out = self.compute_actions_from_input_dict(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
              ||     return self._compute_action_helper(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
              ||     return func(self, *a, **k)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 366, in _compute_action_helper
              ||     dist_inputs, state_out = self.model(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/modelv2.py", line 243, in __call__
              ||     res = self.forward(restored, state or [], seq_lens)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 222, in forward
              ||     raise ValueError(
              || ValueError: Given `conv_filters` ([[16, [8, 8], 4], [32, [4, 4], 2], [256, [11, 11], 1]]) do not result in a [B, 2 (`num_outputs`), 1, 1] shape (but in [1, 2, 50, 70])! Please adjust your Conv2D stack such that the last 2 dims are both 1.
              ||

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

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 423, in main
    raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: external protocol violation

InvalidSubmission:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 343, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 720, in run_episode
    msg = await loop.run_in_executor(executor, f)
  File "/usr/lib/python3.8/concurrent/futures/thread.py", line 57, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 243, in read_one
    msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, 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 "get_commands".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 416, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 589, in handle_message_node
              ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
              ||     f(**kwargs)
              ||   File "solution.py", line 68, in on_received_get_commands
              ||     pwm_left, pwm_right = self.compute_action(self.current_image)
              ||   File "solution.py", line 63, in compute_action
              ||     action = self.model.compute_action(observation, explore=False)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
              ||     return obj(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
              ||     return self.compute_single_action(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
              ||     action, state, extra = policy.compute_single_action(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
              ||     out = self.compute_actions_from_input_dict(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
              ||     return self._compute_action_helper(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
              ||     return func(self, *a, **k)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 366, in _compute_action_helper
              ||     dist_inputs, state_out = self.model(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/modelv2.py", line 243, in __call__
              ||     res = self.forward(restored, state or [], seq_lens)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 222, in forward
              ||     raise ValueError(
              || ValueError: Given `conv_filters` ([[16, [8, 8], 4], [32, [4, 4], 2], [256, [11, 11], 1]]) do not result in a [B, 2 (`num_outputs`), 1, 1] shape (but in [1, 2, 50, 70])! Please adjust your Conv2D stack such that the last 2 dims are both 1.
              ||

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

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 423, in main
    raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: external protocol violation

InvalidSubmission:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 343, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 720, in run_episode
    msg = await loop.run_in_executor(executor, f)
  File "/usr/lib/python3.8/concurrent/futures/thread.py", line 57, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 243, in read_one
    msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, 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 "get_commands".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 416, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 589, in handle_message_node
              ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
              ||     f(**kwargs)
              ||   File "solution.py", line 68, in on_received_get_commands
              ||     pwm_left, pwm_right = self.compute_action(self.current_image)
              ||   File "solution.py", line 63, in compute_action
              ||     action = self.model.compute_action(observation, explore=False)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
              ||     return obj(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
              ||     return self.compute_single_action(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
              ||     action, state, extra = policy.compute_single_action(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
              ||     out = self.compute_actions_from_input_dict(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
              ||     return self._compute_action_helper(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
              ||     return func(self, *a, **k)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 366, in _compute_action_helper
              ||     dist_inputs, state_out = self.model(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/modelv2.py", line 243, in __call__
              ||     res = self.forward(restored, state or [], seq_lens)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 222, in forward
              ||     raise ValueError(
              || ValueError: Given `conv_filters` ([[16, [8, 8], 4], [32, [4, 4], 2], [256, [11, 11], 1]]) do not result in a [B, 2 (`num_outputs`), 1, 1] shape (but in [1, 2, 50, 70])! Please adjust your Conv2D stack such that the last 2 dims are both 1.
              ||

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

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 423, in main
    raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: external protocol violation

InvalidSubmission:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 343, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 720, in run_episode
    msg = await loop.run_in_executor(executor, f)
  File "/usr/lib/python3.8/concurrent/futures/thread.py", line 57, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 243, in read_one
    msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, 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 "get_commands".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 416, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 589, in handle_message_node
              ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
              ||     f(**kwargs)
              ||   File "solution.py", line 68, in on_received_get_commands
              ||     pwm_left, pwm_right = self.compute_action(self.current_image)
              ||   File "solution.py", line 63, in compute_action
              ||     action = self.model.compute_action(observation, explore=False)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
              ||     return obj(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
              ||     return self.compute_single_action(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
              ||     action, state, extra = policy.compute_single_action(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
              ||     out = self.compute_actions_from_input_dict(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
              ||     return self._compute_action_helper(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
              ||     return func(self, *a, **k)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 366, in _compute_action_helper
              ||     dist_inputs, state_out = self.model(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/modelv2.py", line 243, in __call__
              ||     res = self.forward(restored, state or [], seq_lens)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 222, in forward
              ||     raise ValueError(
              || ValueError: Given `conv_filters` ([[16, [8, 8], 4], [32, [4, 4], 2], [256, [11, 11], 1]]) do not result in a [B, 2 (`num_outputs`), 1, 1] shape (but in [1, 2, 50, 70])! Please adjust your Conv2D stack such that the last 2 dims are both 1.
              ||

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

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 423, in main
    raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: external protocol violation

InvalidSubmission:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 343, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 720, in run_episode
    msg = await loop.run_in_executor(executor, f)
  File "/usr/lib/python3.8/concurrent/futures/thread.py", line 57, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 243, in read_one
    msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, 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 "get_commands".
              |
              || Traceback (most recent call last):
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 416, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 589, in handle_message_node
              ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
              ||     f(**kwargs)
              ||   File "solution.py", line 68, in on_received_get_commands
              ||     pwm_left, pwm_right = self.compute_action(self.current_image)
              ||   File "solution.py", line 63, in compute_action
              ||     action = self.model.compute_action(observation, explore=False)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
              ||     return obj(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
              ||     return self.compute_single_action(*args, **kwargs)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
              ||     action, state, extra = policy.compute_single_action(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
              ||     out = self.compute_actions_from_input_dict(
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
              ||     return self._compute_action_helper(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
              ||     return func(self, *a, **k)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 366, in _compute_action_helper
              ||     dist_inputs, state_out = self.model(input_dict, state_batches,
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/modelv2.py", line 243, in __call__
              ||     res = self.forward(restored, state or [], seq_lens)
              ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 222, in forward
              ||     raise ValueError(
              || ValueError: Given `conv_filters` ([[16, [8, 8], 4], [32, [4, 4], 2], [256, [11, 11], 1]]) do not result in a [B, 2 (`num_outputs`), 1, 1] shape (but in [1, 2, 50, 70])! Please adjust your Conv2D stack such that the last 2 dims are both 1.
              ||

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

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 60, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/dist-packages/duckietown_experiment_manager/code.py", line 423, in main
    raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: external protocol violation