Submission 18284

Submission

18284

Competing

yes

Challenge

aido-LF-real-validation

User

Bence Haromi

Date submitted

2021-12-06 17:45:43+00:00

Last status update

2021-12-08 17:46:08+00:00

Complete

complete

Details

Evaluation is complete.

Sisters

Result

💚

Jobs

eval0: 122115 eval0-videos: 122129 eval0-visualize: 122120 eval1: 122118 eval1-videos: 122141 eval1-visualize: 122179 eval2: 122126 eval2-videos: 122157 eval2-visualize: 122192

User label

bme-real-tested

Admin priority

120

Blessing

n/a

User priority

120

122192

Click the images to see detailed statistics about the episode.

sync

visualization

122179

Click the images to see detailed statistics about the episode.

sync

visualization

122157

robot

watchtower

122141

robot

watchtower

122129

robot

watchtower

122120

Click the images to see detailed statistics about the episode.

sync

visualization

Evaluation jobs for this submission

Show only up-to-date jobs

Job ID

step

status

up to date

date started

date completed

duration

message

122192

eval2-visualize

success

yes

2021-12-08 17:37:47+00:00

2021-12-08 17:38:43+00:00

0:00:56

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

driven_lanedir_consec	1.1004107476136928
survival_time	6.8998143672943115
deviation-center-line	0.18661688716469785
in-drivable-lane	2.499940872192383

other stats

deviation-heading	1.175063474911403
distance-from-start	1.014830083584649
driven_any	1.2625947093531589
driven_lanedir	1.1004107476136928
visualized-eval2-passed	1

No reset possible

122191

eval2-visualize

success

yes

2021-12-08 17:36:35+00:00

2021-12-08 17:37:32+00:00

0:00:57

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122188

eval2-visualize

success

yes

2021-12-08 17:35:23+00:00

2021-12-08 17:36:20+00:00

0:00:57

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122186

eval2-visualize

success

yes

2021-12-08 17:34:11+00:00

2021-12-08 17:35:07+00:00

0:00:56

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122184

eval2-visualize

success

yes

2021-12-08 17:32:14+00:00

2021-12-08 17:33:57+00:00

0:01:43

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122179

eval1-visualize

success

yes

2021-12-08 17:31:00+00:00

2021-12-08 17:32:00+00:00

0:01:00

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

driven_lanedir_consec	5.939139564773422
survival_time	20.50040864944458
deviation-center-line	1.304279280151024
in-drivable-lane	0.9001660346984863

other stats

deviation-heading	2.73285893764926
distance-from-start	2.217911604595508
driven_any	6.240614687205211
driven_lanedir	5.939139564773422
visualized-eval1-passed	1

No reset possible

122176

eval1-visualize

success

yes

2021-12-08 17:29:46+00:00

2021-12-08 17:30:46+00:00

0:01:00

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122168

eval1-visualize

success

yes

2021-12-08 17:28:28+00:00

2021-12-08 17:29:32+00:00

0:01:04

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122162

eval1-visualize

success

yes

2021-12-08 17:26:00+00:00

2021-12-08 17:28:12+00:00

0:02:12

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122157

eval2-videos

success

yes

2021-12-08 17:23:08+00:00

2021-12-08 17:24:32+00:00

0:01:24

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122156

eval2-videos

success

yes

2021-12-08 17:23:06+00:00

2021-12-08 17:24:28+00:00

0:01:22

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122154

eval2-videos

success

yes

2021-12-08 17:22:58+00:00

2021-12-08 17:24:24+00:00

0:01:26

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122153

eval2-videos

success

yes

2021-12-08 17:22:48+00:00

2021-12-08 17:24:23+00:00

0:01:35

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122151

eval2-videos

success

yes

2021-12-08 17:21:30+00:00

2021-12-08 17:22:55+00:00

0:01:25

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122150

eval2-videos

success

yes

2021-12-08 17:21:23+00:00

2021-12-08 17:22:52+00:00

0:01:29

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122149

eval2-videos

success

yes

2021-12-08 17:21:21+00:00

2021-12-08 17:22:43+00:00

0:01:22

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122147

eval2-videos

success

yes

2021-12-08 17:20:56+00:00

2021-12-08 17:22:33+00:00

0:01:37

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122145

eval2-videos

success

yes

2021-12-08 17:19:45+00:00

2021-12-08 17:21:10+00:00

0:01:25

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122144

eval2-videos

success

yes

2021-12-08 17:19:44+00:00

2021-12-08 17:21:15+00:00

0:01:31

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122143

eval2-videos

success

yes

2021-12-08 17:19:39+00:00

2021-12-08 17:21:05+00:00

0:01:26

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122142

eval2-videos

timeout

yes

2021-12-08 17:17:56+00:00

2021-12-08 17:20:56+00:00

0:03:00

Timeout because eval [...]

Timeout because evaluator contacted us

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122141

eval1-videos

success

yes

2021-12-08 17:16:25+00:00

2021-12-08 17:19:26+00:00

0:03:01

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122140

eval1-videos

success

yes

2021-12-08 17:16:23+00:00

2021-12-08 17:19:32+00:00

0:03:09

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122139

eval1-videos

success

yes

2021-12-08 17:16:22+00:00

2021-12-08 17:19:29+00:00

0:03:07

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122138

eval1-videos

success

yes

2021-12-08 17:16:20+00:00

2021-12-08 17:20:39+00:00

0:04:19

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122137

eval1-videos

success

yes

2021-12-08 17:16:05+00:00

2021-12-08 17:20:22+00:00

0:04:17

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122135

eval1-videos

success

yes

2021-12-08 17:12:22+00:00

2021-12-08 17:16:11+00:00

0:03:49

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122134

eval1-videos

success

yes

2021-12-08 17:12:15+00:00

2021-12-08 17:16:08+00:00

0:03:53

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122133

eval1-videos

success

yes

2021-12-08 17:12:14+00:00

2021-12-08 17:16:08+00:00

0:03:54

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122129

eval0-videos

success

yes

2021-12-08 17:07:17+00:00

2021-12-08 17:17:40+00:00

0:10:23

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122128

eval0-videos

success

yes

2021-12-08 17:06:58+00:00

2021-12-08 17:16:05+00:00

0:09:07

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122127

eval0-videos

success

yes

2021-12-08 17:06:48+00:00

2021-12-08 17:15:51+00:00

0:09:03

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122126

eval2

success

yes

2021-12-08 17:04:42+00:00

2021-12-08 17:08:09+00:00

0:03:27

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122125

eval0-videos

success

yes

2021-12-08 17:04:04+00:00

2021-12-08 17:11:58+00:00

0:07:54

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122124

eval0-videos

success

yes

2021-12-08 17:03:49+00:00

2021-12-08 17:12:02+00:00

0:08:13

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122123

eval0-videos

success

yes

2021-12-08 17:03:17+00:00

2021-12-08 17:12:08+00:00

0:08:51

all ok, 8 bags proce [...]

all ok, 8 bags processed

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122120

eval0-visualize

success

yes

2021-12-08 17:01:06+00:00

2021-12-08 17:03:48+00:00

0:02:42

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

driven_lanedir_consec	16.910428122381134
survival_time	59.00005888938904
deviation-center-line	2.9685839959893925
in-drivable-lane	0.0

other stats

deviation-heading	6.980754356725135
distance-from-start	2.4077016794397057
driven_any	17.14998556697464
driven_lanedir	16.910428122381134
visualized-eval0-passed	1

No reset possible

122118

eval1

success

yes

2021-12-08 16:54:12+00:00

2021-12-08 16:58:18+00:00

0:04:06

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122115

eval0

success

yes

2021-12-08 16:43:09+00:00

2021-12-08 16:47:34+00:00

0:04:25

Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.

No reset possible

122113

eval0

aborted

yes

2021-12-08 16:40:17+00:00

2021-12-08 16:42:50+00:00

0:02:33

DEBUG:commons:versio [...]

DEBUG:commons:version: 6.2.4 *
DEBUG:typing:version: 6.2.3
DEBUG:nodes:version 6.2.13 path /usr/local/lib/python3.8/dist-packages pyparsing 2.4.6
DEBUG:ipce:version 6.1.2 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
2021-12-08 16:41:35.724642: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcudart.so.11.0'; dlerror: libcudart.so.11.0: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:35.724674: I tensorflow/stream_executor/cuda/cudart_stub.cc:29] Ignore above cudart dlerror if you do not have a GPU set up on your machine.
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:gym-duckietown:gym-duckietown version 6.1.31 path /code/gym-duckietown/src

2021-12-08 16:41:43.267085: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcudart.so.11.0'; dlerror: libcudart.so.11.0: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:43.267280: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcublas.so.11'; dlerror: libcublas.so.11: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:43.267438: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcublasLt.so.11'; dlerror: libcublasLt.so.11: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:43.267593: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcufft.so.10'; dlerror: libcufft.so.10: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:43.267742: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcurand.so.10'; dlerror: libcurand.so.10: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:43.267892: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcusolver.so.11'; dlerror: libcusolver.so.11: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:43.268045: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcusparse.so.11'; dlerror: libcusparse.so.11: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:43.268192: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcudnn.so.8'; dlerror: libcudnn.so.8: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /usr/local/lib/python3.8/dist-packages/cv2/../../lib64:
2021-12-08 16:41:43.268218: W tensorflow/core/common_runtime/gpu/gpu_device.cc:1850] Cannot dlopen some GPU libraries. Please make sure the missing libraries mentioned above are installed properly if you would like to use GPU. Follow the guide at https://www.tensorflow.org/install/gpu for how to download and setup the required libraries for your platform.
Skipping registering GPU devices...
DEBUG:nodes_wrapper:checking implementation
DEBUG:nodes_wrapper:checking implementation OK
DEBUG:nodes_wrapper.RLlibAgent: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.RLlibAgent:Starting reading
 fi_desc: /fifos/ego0-in
 fo_desc: fifo:/fifos/ego0-out
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: init()
WARNING:config.config:Found paths with seed 7:
WARNING:config.config:0: ./models/TestPPO+DA_0007/Nov26_01-11-32/config_dump_0007.yml
WARNING:config.config:Found checkpoints in ./models/TestPPO+DA_0007/Nov26_01-11-32:
WARNING:config.config:0: ./models/TestPPO+DA_0007/Nov26_01-11-32/PPO_0_2021-11-26_01-11-33/checkpoint_000873/checkpoint-873
WARNING:config.config:1: ./models/TestPPO+DA_0007/Nov26_01-11-32/PPO_0_2021-11-26_01-11-33/checkpoint_000977/checkpoint-977
WARNING:config.config:Config loaded from ./models/TestPPO+DA_0007/Nov26_01-11-32/config_dump_0007.yml
WARNING:config.config:Model checkpoint loaded from ./models/TestPPO+DA_0007/Nov26_01-11-32/PPO_0_2021-11-26_01-11-33/checkpoint_000873/checkpoint-873
WARNING:config.config:Updating default config values by: 
 env_config:
  mode: inference

WARNING:config.config:Env_config.mode is 'inference', some hyperparameters will be overwritten by: 
 rllib_config:
  explore: false
  num_workers: 0
  num_gpus: 0
  callbacks: {}
ray_init_config:
  num_cpus: 1
  _memory: 2097152000
  object_store_memory: 209715200
  _redis_max_memory: 209715200
  local_mode: true

INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: === Wrappers ===================================
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: Observation wrappers
 <ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>
<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>
<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>>
<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>>>
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: Action wrappers
 <Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: Reward wrappers
 <DtRewardPosAngle<Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>>
<DtRewardVelocity<DtRewardPosAngle<Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>>>
<DtRewardCollisionAvoidance<DtRewardVelocity<DtRewardPosAngle<Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>>>>
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: === Config ===================================
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: seed: 7
experiment_name: TestPPO+DA
algo: PPO
algo_config_files:
  PPO: config/algo/ppo.yml
  general: config/algo/general.yml
env_config:
  mode: inference
  episode_max_steps: 500
  resized_input_shape:
  - 84
  - 84
  crop_image_top: true
  top_crop_divider: 3
  grayscale_image: false
  frame_stacking: true
  frame_stacking_depth: 3
  motion_blur: false
  action_type: heading
  reward_function: posangle
  distortion: true
  accepted_start_angle_deg: 4
  simulation_framerate: 30
  frame_skip: 1
  action_delay_ratio: 0.0
  training_map: multimap1
  domain_rand: true
  dynamics_rand: false
  camera_rand: false
  frame_repeating: 0.0
  spawn_obstacles: false
  obstacles:
    duckie:
      density: 0.5
      static: true
    duckiebot:
      density: 0
      static: false
  framework: torch
  spawn_forward_obstacle: false
  aido_wrapper: false
  wandb:
    project: dt21
  experiment_name: TestPPO+DA
  seed: 7
ray_init_config:
  num_cpus: 1
  num_gpus: 1
  object_store_memory: 209715200
  _memory: 2097152000
  _redis_max_memory: 209715200
  local_mode: true
restore_seed: -1
restore_experiment_idx: 0
restore_checkpoint_idx: 0
debug_hparams:
  rllib_config:
    num_workers: 1
    num_gpus: 0
  ray_init_config:
    num_cpus: 1
    _memory: 2097152000
    object_store_memory: 209715200
    _redis_max_memory: 209715200
    local_mode: true
inference_hparams:
  rllib_config:
    explore: false
    num_workers: 0
    num_gpus: 0
    callbacks: {}
  ray_init_config:
    num_cpus: 1
    _memory: 2097152000
    object_store_memory: 209715200
    _redis_max_memory: 209715200
    local_mode: true
timesteps_total: 1000000.0
rllib_config:
  num_workers: 0
  num_gpus: 0
  train_batch_size: 1024
  gamma: 0.99
  lr: 5.0e-05
  monitor: false
  evaluation_interval: 0
  evaluation_num_episodes: 2
  evaluation_config:
    monitor: false
  seed: 1234
  sgd_minibatch_size: 32
  vf_loss_coeff: 0.5
  entropy_coeff: 0.0
  clip_param: 0.2
  vf_clip_param: 0.2
  grad_clip: 0.5
  lambda: 0.95
  num_sgd_iter: 16
  framework: torch
  log_level: ERROR
  ignore_worker_failures: true
  env: Duckietown
  env_config:
    mode: inference
    episode_max_steps: 500
    resized_input_shape:
    - 84
    - 84
    crop_image_top: true
    top_crop_divider: 3
    grayscale_image: false
    frame_stacking: true
    frame_stacking_depth: 3
    motion_blur: false
    action_type: heading
    reward_function: posangle
    distortion: true
    accepted_start_angle_deg: 4
    simulation_framerate: 30
    frame_skip: 1
    action_delay_ratio: 0.0
    training_map: multimap1
    domain_rand: true
    dynamics_rand: false
    camera_rand: false
    frame_repeating: 0.0
    spawn_obstacles: false
    obstacles:
      duckie:
        density: 0.5
        static: true
      duckiebot:
        density: 0
        static: false
    framework: torch
    spawn_forward_obstacle: false
    aido_wrapper: false
    wandb:
      project: dt21
    experiment_name: TestPPO+DA
    seed: 7
  explore: false
  callbacks: {}

2021-12-08 16:41:46,778	WARNING services.py:1748 -- WARNING: The object store is using /tmp instead of /dev/shm because /dev/shm has only 67108864 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=0.21gb' 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.
2021-12-08 16:41:48,569	INFO logger.py:180 -- pip install 'ray[tune]' to see TensorBoard files.
2021-12-08 16:41:48,570	WARNING logger.py:325 -- Could not instantiate TBXLogger: No module named 'tensorboardX'.
2021-12-08 16:41:48,575	WARNING deprecation.py:38 -- DeprecationWarning: `monitor` has been deprecated. Use `record_env` instead. This will raise an error in the future!
2021-12-08 16:41:48,575	WARNING ppo.py:143 -- `train_batch_size` (1024) cannot be achieved with your other settings (num_workers=0 num_envs_per_worker=1 rollout_fragment_length=200)! Auto-adjusting `rollout_fragment_length` to 1024.
2021-12-08 16:41:48,575	INFO ppo.py:166 -- In multi-agent mode, policies will be optimized sequentially by the multi-GPU optimizer. Consider setting simple_optimizer=True if this doesn't work for you.
2021-12-08 16:41:48,575	INFO trainer.py:770 -- Current log_level is ERROR. For more information, set 'log_level': 'INFO' / 'DEBUG' or use the -v and -vv flags.
WARNING:duckietown_utils.env:Dummy Duckietown Gym reset() called!
2021-12-08 16:41:48,976	WARNING util.py:57 -- Install gputil for GPU system monitoring.
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: Restoring checkpoint from: ./models/TestPPO+DA_0007/Nov26_01-11-32/PPO_0_2021-11-26_01-11-33/checkpoint_000873/checkpoint-873
2021-12-08 16:41:49,038	INFO trainable.py:416 -- Restored on 172.17.0.3 from checkpoint: ./models/TestPPO+DA_0007/Nov26_01-11-32/PPO_0_2021-11-26_01-11-33/checkpoint_000873/checkpoint-873
2021-12-08 16:41:49,038	INFO trainable.py:424 -- Current state after restoring: {'_iteration': 873, '_timesteps_total': 0, '_time_total': 16775.385628938675, '_episodes_total': 2759}
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: Starting episode "episode"
INFO:aido_schemas: data: EpisodeStart(episode_name=episode)
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INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.150362
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.1597097
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.1835647
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.1930568
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.2171466
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.1930568
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.2171466
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.2263947
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.250844
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.2263947
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.2838883
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.2930603
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.317501
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.2930603
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.317501
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.3281965
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.3507302
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.362718
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.3840218
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.362718
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.3840218
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.3930423
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.420685
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.4291766
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.4503908
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.4597378
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.4836097
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INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.4940972
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.5172713
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.5274296
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.5503385
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.5644667
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.5847187
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.5644667
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.5847187
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.5930817
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.6235955
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.6263871
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.6506128
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.6597636
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.6835961
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.6597636
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.6835961
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.6935513
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.720112
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.6935513
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.7507064
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.7441688
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.7507064
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.759733
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.7840922
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.7930446
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.8167195
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.826415
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.850204
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.826415
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.850204
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.8597403
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: camera timestamp: 1638981714.8839312
INFO:nodes_wrapper.RLlibAgent.data:329ecd3a99c9:RLlibAgent: odometry timestamp: 1638981714.8931005
*** SIGTERM received at time=1638981714 on cpu 13 ***
PC: @     0x7f940fd5f6c3  (unknown)  (unknown)
    @     0x7f940fc17210  2130108640  (unknown)
    @              0x280  (unknown)  (unknown)
[2021-12-08 16:41:54,934 E 1 1] logging.cc:313: *** SIGTERM received at time=1638981714 on cpu 13 ***
[2021-12-08 16:41:54,937 E 1 1] logging.cc:313: PC: @     0x7f940fd5f6c3  (unknown)  (unknown)
[2021-12-08 16:41:54,937 E 1 1] logging.cc:313:     @     0x7f940fc17210  2130108640  (unknown)
[2021-12-08 16:41:54,941 E 1 1] logging.cc:313:     @              0x280  (unknown)  (unknown)
ERROR:nodes_wrapper.RLlibAgent:Error in node RLlibAgent
 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 "/code/solution.py", line 66, in on_received_observations
     |    _rgb = jpg2rgb(camera.jpg_data)
     |  File "/code/solution.py", line 123, in jpg2rgb
     |    data = np.array(im)
     |  File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 703, in __array__
     |    return np.array(ArrayData(), dtype)
     |  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 "/code/solution.py", line 66, in on_received_observations
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
     ||     _rgb = jpg2rgb(camera.jpg_data)
     ||   File "/code/solution.py", line 123, in jpg2rgb
     ||     data = np.array(im)
     ||   File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 703, in __array__
     ||     return np.array(ArrayData(), dtype)
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 1027, in sigterm_handler
     ||     sys.exit(signum)
     || SystemExit: 15
     ||
     |
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obs shape: (84, 84, 9)
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obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
before obs shape: (480, 640, 3)
obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
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 "/code/solution.py", line 66, in on_received_observations
    _rgb = jpg2rgb(camera.jpg_data)
  File "/code/solution.py", line 123, in jpg2rgb
    data = np.array(im)
  File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 703, in __array__
    return np.array(ArrayData(), dtype)
  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 "/code/solution.py", line 66, in on_received_observations
|     _rgb = jpg2rgb(camera.jpg_data)
|   File "/code/solution.py", line 123, in jpg2rgb
|     data = np.array(im)
|   File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 703, in __array__
|     return np.array(ArrayData(), dtype)
|   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/bin/node-launch", line 8, in <module>
    sys.exit(launcher_main())
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/launcher.py", line 123, in launcher_main
    return wrap_direct(node=node, protocol=protocol, args=[])
  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 RLlibAgent

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122112

eval0

aborted

yes

2021-12-08 16:35:50+00:00

2021-12-08 16:39:22+00:00

0:03:32

Job shutdown [...]

Job shutdown

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