Submission 18248

==> Entrypoint
Network configured successfully.
INFO: ROBOT_TYPE is externally set to 'duckiebot'.
<== Entrypoint
DEBUG:commons:version: 6.2.4 *
DEBUG:typing:version: 6.2.3
DEBUG:duckietown_world:duckietown-world version 6.2.38 path /usr/local/lib/python3.8/dist-packages
DEBUG:geometry:PyGeometry-z6 version 2.1.4 path /usr/local/lib/python3.8/dist-packages
DEBUG:aido_schemas:aido-protocols version 6.0.59 path /usr/local/lib/python3.8/dist-packages
DEBUG:nodes:version 6.2.13 path /usr/local/lib/python3.8/dist-packages pyparsing 2.4.6
DEBUG:gym-duckietown:gym-duckietown version 6.1.30 path /usr/local/lib/python3.8/dist-packages

DEBUG:ipce:version 6.1.1 path /usr/local/lib/python3.8/dist-packages
DEBUG:nodes_wrapper:checking implementation
DEBUG:nodes_wrapper:checking implementation OK
DEBUG:nodes_wrapper.PytorchRLTemplateAgent:run_loop
  fin: /fifos/ego0-in
 fout: fifo:/fifos/ego0-out
DEBUG:nodes_wrapper:Fifo /fifos/ego0-out created. I will block until a reader appears.
DEBUG:nodes_wrapper:Fifo reader appeared for /fifos/ego0-out.
DEBUG:nodes_wrapper.PytorchRLTemplateAgent:Starting reading
 fi_desc: /fifos/ego0-in
 fo_desc: fifo:/fifos/ego0-out
INFO:nodes_wrapper.PytorchRLTemplateAgent.data:07119012397a:PytorchRLTemplateAgent: torch.cuda.is_available = True AIDO_REQUIRE_GPU = None
INFO:nodes_wrapper.PytorchRLTemplateAgent.data:07119012397a:PytorchRLTemplateAgent: init()
INFO:nodes_wrapper.PytorchRLTemplateAgent.data:07119012397a:PytorchRLTemplateAgent: device 0 of 1; name = 'GeForce GTX 1080 Ti'
INFO:aido_schemas:PytorchRLTemplateAgent init
2021-12-08 23:21:34,492	WARNING deprecation.py:38 -- DeprecationWarning: `monitor` has been deprecated. Use `record_env` instead. This will raise an error in the future!
2021-12-08 23:21:34,492	WARNING ppo.py:143 -- `train_batch_size` (128) cannot be achieved with your other settings (num_workers=1 num_envs_per_worker=1 rollout_fragment_length=200)! Auto-adjusting `rollout_fragment_length` to 128.
2021-12-08 23:21:34,849	WARNING services.py:1748 -- WARNING: The object store is using /tmp instead of /dev/shm because /dev/shm has only 67096576 bytes available. This will harm performance! You may be able to free up space by deleting files in /dev/shm. If you are inside a Docker container, you can increase /dev/shm size by passing '--shm-size=10.24gb' to 'docker run' (or add it to the run_options list in a Ray cluster config). Make sure to set this to more than 30% of available RAM.
(pid=292) DEBUG:commons:version: 6.2.4 *
(pid=292) DEBUG:typing:version: 6.2.3
(pid=292) DEBUG:duckietown_world:duckietown-world version 6.2.38 path /usr/local/lib/python3.8/dist-packages
(pid=292) DEBUG:geometry:PyGeometry-z6 version 2.1.4 path /usr/local/lib/python3.8/dist-packages
(pid=292) DEBUG:aido_schemas:aido-protocols version 6.0.59 path /usr/local/lib/python3.8/dist-packages
(pid=292) DEBUG:nodes:version 6.2.13 path /usr/local/lib/python3.8/dist-packages pyparsing 2.4.6
(pid=292) DEBUG:gym-duckietown:gym-duckietown version 6.1.30 path /usr/local/lib/python3.8/dist-packages
(pid=292)
(pid=292) WARNING:wrappers.general_wrappers:Dummy Duckietown Gym reset() called!
(pid=292) 2021-12-08 23:21:44,362	WARNING deprecation.py:38 -- DeprecationWarning: `SampleBatch['is_training']` has been deprecated. Use `SampleBatch.is_training` instead. This will raise an error in the future!
2021-12-08 23:21:47,017	WARNING deprecation.py:38 -- DeprecationWarning: `SampleBatch['is_training']` has been deprecated. Use `SampleBatch.is_training` instead. This will raise an error in the future!
2021-12-08 23:21:47,051	WARNING trainer_template.py:185 -- `execution_plan` functions should accept `trainer`, `workers`, and `config` as args!
2021-12-08 23:21:47,052	WARNING deprecation.py:38 -- DeprecationWarning: `monitor` has been deprecated. Use `record_env` instead. This will raise an error in the future!
2021-12-08 23:21:47,053	WARNING deprecation.py:38 -- DeprecationWarning: `simple_optimizer` has been deprecated. This will raise an error in the future!
WARNING:wrappers.general_wrappers:Dummy Duckietown Gym reset() called!
/usr/local/lib/python3.8/dist-packages/gym/wrappers/monitor.py:86: UserWarning: WARN: Trying to monitor an environment which has no 'spec' set. This usually means you did not create it via 'gym.make', and is recommended only for advanced users.
  logger.warn(
2021-12-08 23:21:47,147	INFO trainable.py:110 -- Trainable.setup took 12.656 seconds. If your trainable is slow to initialize, consider setting reuse_actors=True to reduce actor creation overheads.
2021-12-08 23:21:47,148	WARNING util.py:57 -- Install gputil for GPU system monitoring.
2021-12-08 23:21:47,214	INFO trainable.py:416 -- Restored on 172.17.0.3 from checkpoint: ./tf_models/checkpoint-323
2021-12-08 23:21:47,215	INFO trainable.py:424 -- Current state after restoring: {'_iteration': 323, '_timesteps_total': 0, '_time_total': 14754.660910367966, '_episodes_total': 3388}
INFO:aido_schemas:PytorchRLTemplateAgent init complete
INFO:nodes_wrapper.PytorchRLTemplateAgent.data:07119012397a:PytorchRLTemplateAgent: Starting episode "episode".
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INFO:aido_schemas:counter: 1; type:<class 'wrappers.observe_wrappers.RGB2GrayscaleWrapper'>; img: <class 'numpy.ndarray'>, (320, 640, 3)
INFO:aido_schemas:counter: 2; type:<class 'wrappers.observe_wrappers.ResizeWrapper'>; img: <class 'numpy.ndarray'>, (320, 640, 1)
INFO:aido_schemas:counter: 3; type:<class 'wrappers.observe_wrappers.ObservationBufferWrapper'>; img: <class 'numpy.ndarray'>, (84, 84, 1)
*** SIGTERM received at time=1639005731 on cpu 11 ***
PC: @     0x7fd5e2d2c71a  (unknown)  (unknown)
    @     0x7fd5e2be4210  159258208  (unknown)
    @             0x1b90  (unknown)  (unknown)
[2021-12-08 23:22:11,441 E 1 1] logging.cc:313: *** SIGTERM received at time=1639005731 on cpu 11 ***
[2021-12-08 23:22:11,444 E 1 1] logging.cc:313: PC: @     0x7fd5e2d2c71a  (unknown)  (unknown)
[2021-12-08 23:22:11,444 E 1 1] logging.cc:313:     @     0x7fd5e2be4210  159258208  (unknown)
[2021-12-08 23:22:11,447 E 1 1] logging.cc:313:     @             0x1b90  (unknown)  (unknown)
ERROR:nodes_wrapper.PytorchRLTemplateAgent:Error in node PytorchRLTemplateAgent
 ET: InternalProblem
 tb: |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 72, in on_received_observations
     |    obs = obs_wrap.observation(obs)
     |  File "/submission/wrappers/observe_wrappers.py", line 135, in observation
     |    self.obs_buffer = np.concatenate((self.obs_buffer[..., (obs.shape[self.buffer_axis]):], obs),
     |  File "<__array_function__ internals>", line 5, in concatenate
     |  File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 1027, in sigterm_handler
     |    sys.exit(signum)
     |SystemExit: 15
     |
     |The above exception was the direct cause of the following exception:
     |
     |Traceback (most recent call last):
{'audio': ('xaudio2', 'directsound', 'openal', 'pulse', 'silent'), 'debug_font': False, 'debug_gl': True, 'debug_gl_trace': False, 'debug_gl_trace_args': False, 'debug_graphics_batch': False, 'debug_lib': False, 'debug_media': False, 'debug_texture': False, 'debug_trace': False, 'debug_trace_args': False, 'debug_trace_depth': 1, 'debug_trace_flush': True, 'debug_win32': False, 'debug_x11': False, 'graphics_vbo': True, 'shadow_window': True, 'vsync': None, 'xsync': True, 'xlib_fullscreen_override_redirect': False, 'darwin_cocoa': True, 'search_local_libs': True, 'advanced_font_features': False, 'headless': False, 'headless_device': 0}
{'callbacks': <ray.rllib.agents.callbacks.MultiCallbacks object at 0x7fd5de873c40>,
 'env': 'Duckietown',
 'env_config': {'accepted_start_angle_deg': 4,
                'action_delay_ratio': 0.0,
                'action_type': 'heading',
                'aido_wrapper': False,
     |  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 287, in run_loop
     |    loop(my_logger, node_name, fi, fo, node, protocol, tin, tout, config=config, fi_desc=fin,
     |  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 434, in loop
     |    raise InternalProblem(msg) from e  # XXX
     |zuper_nodes.structures.InternalProblem: Exception while handling a message on topic "observations".
     |
     || 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 72, in on_received_observations
     ||     obs = obs_wrap.observation(obs)
     ||   File "/submission/wrappers/observe_wrappers.py", line 135, in observation
     ||     self.obs_buffer = np.concatenate((self.obs_buffer[..., (obs.shape[self.buffer_axis]):], obs),
     ||   File "<__array_function__ internals>", line 5, in concatenate
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 1027, in sigterm_handler
     ||     sys.exit(signum)
     || SystemExit: 15
     ||
     |
                'camera_rand': False,
                'crop_image_top': True,
                'distortion': True,
                'domain_rand': False,
                'dynamics_rand': False,
                'episode_max_steps': 10,
                'eval': True,
                'experiment_name': 'Debug',
                'frame_repeating': 0.0,
                'frame_skip': 1,
                'frame_stacking': True,
                'frame_stacking_depth': 3,
                'grayscale_image': False,
                'mode': 'debug',
                'motion_blur': False,
                'obstacles': {'duckie': {'density': 0.5, 'static': True},
                              'duckiebot': {'density': 0, 'static': False}},
                'resized_input_shape': '(84, 84)',
                'reward_function': 'posangle',
                'seed': 0,
                'simulation_framerate': 30,
                'spawn_forward_obstacle': False,
                'spawn_obstacles': False,
                'top_crop_divider': 3,
                'training_map': 'loop_empty',
                'wandb': {'project': 'duckietown-rllib'}},
 'evaluation_config': {'monitor': True},
 'evaluation_interval': 25,
 'evaluation_num_episodes': 10,
 'framework': 'torch',
 'gamma': 0.99,
 'lr': 0.0001,
 'monitor': False,
 'num_gpus': 1,
 'num_workers': 1,
 'seed': 1234,
 'train_batch_size': 128}
(RolloutWorker pid=292) {'audio': ('xaudio2', 'directsound', 'openal', 'pulse', 'silent'), 'debug_font': False, 'debug_gl': True, 'debug_gl_trace': False, 'debug_gl_trace_args': False, 'debug_graphics_batch': False, 'debug_lib': False, 'debug_media': False, 'debug_texture': False, 'debug_trace': False, 'debug_trace_args': False, 'debug_trace_depth': 1, 'debug_trace_flush': True, 'debug_win32': False, 'debug_x11': False, 'graphics_vbo': True, 'shadow_window': True, 'vsync': None, 'xsync': True, 'xlib_fullscreen_override_redirect': False, 'darwin_cocoa': True, 'search_local_libs': True, 'advanced_font_features': False, 'headless': False, 'headless_device': 0}
Setting the path for recording to /root/ray_results/PPO_Duckietown_2021-12-08_23-21-34nbu3rkq6/
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 72, in on_received_observations
    obs = obs_wrap.observation(obs)
  File "/submission/wrappers/observe_wrappers.py", line 135, in observation
    self.obs_buffer = np.concatenate((self.obs_buffer[..., (obs.shape[self.buffer_axis]):], obs),
  File "<__array_function__ internals>", line 5, in concatenate
  File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 1027, in sigterm_handler
    sys.exit(signum)
SystemExit: 15

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 287, in run_loop
    loop(my_logger, node_name, fi, fo, node, protocol, tin, tout, config=config, fi_desc=fin,
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 434, in loop
    raise InternalProblem(msg) from e  # XXX
zuper_nodes.structures.InternalProblem: Exception while handling a message on topic "observations".

| 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 72, in on_received_observations
|     obs = obs_wrap.observation(obs)
|   File "/submission/wrappers/observe_wrappers.py", line 135, in observation
|     self.obs_buffer = np.concatenate((self.obs_buffer[..., (obs.shape[self.buffer_axis]):], obs),
|   File "<__array_function__ internals>", line 5, in concatenate
|   File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 1027, in sigterm_handler
|     sys.exit(signum)
| SystemExit: 15
| 

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

Traceback (most recent call last):
  File "solution.py", line 128, in <module>
    main()
  File "solution.py", line 124, in main
    wrap_direct(node=node, protocol=protocol)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/interface.py", line 25, in wrap_direct
    run_loop(node, protocol, args)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 301, in run_loop
    raise Exception(msg) from e
Exception: Error in node PytorchRLTemplateAgent

Job shutdown

all ok, 8 bags processed

all ok, 8 bags processed

all ok, 8 bags processed