Submission 19257

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 418, in loop
              ||     handle_message_node(parsed, receiver0, context0)
              ||   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, 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 66, in on_received_get_commands
              ||     linear, angular = self.compute_action(self.to_predictor)
              ||   File "solution.py", line 61, in compute_action
              ||     (linear, angular) = self.model.predict(observation)
              ||   File "/usr/local/lib/python3.8/dist-packages/keras/utils/traceback_utils.py", line 70, in error_handler
              ||     raise e.with_traceback(filtered_tb) from None
              ||   File "/tmp/__autograph_generated_fileqpym7x1f.py", line 15, in tf__predict_function
              ||     retval_ = ag__.converted_call(ag__.ld(step_function), (ag__.ld(self), ag__.ld(iterator)), None, fscope)
              || ValueError: in user code:
              ||
              ||     File "/usr/local/lib/python3.8/dist-packages/keras/engine/training.py", line 2041, in predict_function  *
              ||         return step_function(self, iterator)
              ||     File "/usr/local/lib/python3.8/dist-packages/keras/engine/training.py", line 2027, in step_function  **
              ||         outputs = model.distribute_strategy.run(run_step, args=(data,))
              ||     File "/usr/local/lib/python3.8/dist-packages/keras/engine/training.py", line 2015, in run_step  **
              ||         outputs = model.predict_step(data)
              ||     File "/usr/local/lib/python3.8/dist-packages/keras/engine/training.py", line 1983, in predict_step
              ||         return self(x, training=False)
              ||     File "/usr/local/lib/python3.8/dist-packages/keras/utils/traceback_utils.py", line 70, in error_handler
              ||         raise e.with_traceback(filtered_tb) from None
              ||     File "/usr/local/lib/python3.8/dist-packages/keras/engine/input_spec.py", line 232, in assert_input_compatibility
              ||         raise ValueError(
              ||
              ||     ValueError: Exception encountered when calling layer "NewModel" "                 f"(type Functional).
              ||
              ||     Input 0 of layer "time_distributed_13" is incompatible with the layer: expected ndim=5, found ndim=1. Full shape received: (32,)
              ||
              ||     Call arguments received by layer "NewModel" "                 f"(type Functional):
              ||       • inputs=tf.Tensor(shape=(32,), dtype=float32)
              ||       • training=False
              ||       • mask=None
              ||
              ||

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