Duckietown Challenges Home Challenges Submissions

Submission 11774

Submission11774
Competingyes
Challengeaido5-LF-sim-validation
UserDishank Bansal 🇨🇦
Date submitted
Last status update
Completecomplete
DetailsEvaluation is complete.
Sisters
Result💚
JobsLFv-sim: 53768
Next
User labelsim-exercise-2
Admin priority50
Blessingn/a
User priority50

53768

Click the images to see detailed statistics about the episode.

LF-norm-loop-000

LF-norm-small_loop-000

LF-norm-techtrack-000

LF-norm-zigzag-000

Evaluation jobs for this submission

See previous jobs for previous versions of challenges
Job IDstepstatusup to datedate starteddate completeddurationmessage
53768LFv-simsuccessyes0:34:56
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
driven_lanedir_consec_median8.364876055648955
survival_time_median59.44999999999876
deviation-center-line_median3.7464636625067462
in-drivable-lane_median7.249999999999847


other stats
agent_compute-ego0_max0.01320116089146699
agent_compute-ego0_mean0.01284324305976276
agent_compute-ego0_median0.013015129325263376
agent_compute-ego0_min0.01214155269705731
complete-iteration_max0.22344241816064583
complete-iteration_mean0.20246980532630032
complete-iteration_median0.2031357084127471
complete-iteration_min0.1801653863190612
deviation-center-line_max3.8523098840301495
deviation-center-line_mean3.514261919483948
deviation-center-line_min2.7118104688921503
deviation-heading_max14.942620800506676
deviation-heading_mean12.411531956756454
deviation-heading_median12.226512844024402
deviation-heading_min10.25048133847034
driven_any_max19.792227025938544
driven_any_mean15.90247335116544
driven_any_median16.079466326439157
driven_any_min11.65873372584491
driven_lanedir_consec_max18.54360232415123
driven_lanedir_consec_mean10.346862162160251
driven_lanedir_consec_min6.114094213191869
driven_lanedir_max18.54360232415123
driven_lanedir_mean14.082738791706351
driven_lanedir_median14.161579548167897
driven_lanedir_min9.464193746338388
get_duckie_state_max1.4193945383648391e-06
get_duckie_state_mean1.3249201992956333e-06
get_duckie_state_median1.3139056333230584e-06
get_duckie_state_min1.2524749921715775e-06
get_robot_state_max0.003934178324563616
get_robot_state_mean0.0038528460420172903
get_robot_state_median0.0038837474517173865
get_robot_state_min0.0037097109400707744
get_state_dump_max0.004959827259517927
get_state_dump_mean0.004814895074939064
get_state_dump_median0.0048347583886889115
get_state_dump_min0.004630236262860505
get_ui_image_max0.035040554015532785
get_ui_image_mean0.03163783660539629
get_ui_image_median0.03191514329259958
get_ui_image_min0.027680505820853227
in-drivable-lane_max9.799999999999692
in-drivable-lane_mean7.387499999999792
in-drivable-lane_min5.24999999999978
per-episodes
details{"LF-norm-loop-000-ego0": {"driven_any": 19.792227025938544, "get_ui_image": 0.029956357465199288, "step_physics": 0.11895139608454644, "survival_time": 59.99999999999873, "driven_lanedir": 18.54360232415123, "get_state_dump": 0.004925438208345768, "get_robot_state": 0.0038899075081703766, "sim_render-ego0": 0.003938618746526434, "get_duckie_state": 1.3465389026193992e-06, "in-drivable-lane": 5.3499999999999055, "deviation-heading": 10.25048133847034, "agent_compute-ego0": 0.013164656843174308, "complete-iteration": 0.1890223675425305, "set_robot_commands": 0.002362056735354002, "deviation-center-line": 3.71183201239092, "driven_lanedir_consec": 18.54360232415123, "sim_compute_sim_state": 0.009586220676952556, "sim_compute_performance-ego0": 0.0021531043898354563}, "LF-norm-zigzag-000-ego0": {"driven_any": 11.65873372584491, "get_ui_image": 0.035040554015532785, "step_physics": 0.14561676564423934, "survival_time": 45.94999999999953, "driven_lanedir": 9.464193746338388, "get_state_dump": 0.004630236262860505, "get_robot_state": 0.0037097109400707744, "sim_render-ego0": 0.0038086098173390264, "get_duckie_state": 1.2524749921715775e-06, "in-drivable-lane": 9.149999999999787, "deviation-heading": 10.759383926832523, "agent_compute-ego0": 0.01214155269705731, "complete-iteration": 0.22344241816064583, "set_robot_commands": 0.0022384941577911375, "deviation-center-line": 2.7118104688921503, "driven_lanedir_consec": 8.573438660752249, "sim_compute_sim_state": 0.01411633621091428, "sim_compute_performance-ego0": 0.0020506729250368864}, "LF-norm-techtrack-000-ego0": {"driven_any": 15.698287201777214, "get_ui_image": 0.03387392911999988, "step_physics": 0.14065078803297823, "survival_time": 58.89999999999879, "driven_lanedir": 13.433991257324408, "get_state_dump": 0.0047440785690320555, "get_robot_state": 0.0038775873952643968, "sim_render-ego0": 0.0039778884130579825, "get_duckie_state": 1.2812723640267176e-06, "in-drivable-lane": 9.799999999999692, "deviation-heading": 13.693641761216275, "agent_compute-ego0": 0.012865601807352444, "complete-iteration": 0.21724904928296376, "set_robot_commands": 0.002367432386416111, "deviation-center-line": 3.7810953126225737, "driven_lanedir_consec": 8.15631345054566, "sim_compute_sim_state": 0.012646377440526184, "sim_compute_performance-ego0": 0.0021549312617437024}, "LF-norm-small_loop-000-ego0": {"driven_any": 16.460645451101097, "get_ui_image": 0.027680505820853227, "step_physics": 0.11523286091298685, "survival_time": 59.99999999999873, "driven_lanedir": 14.889167839011382, "get_state_dump": 0.004959827259517927, "get_robot_state": 0.003934178324563616, "sim_render-ego0": 0.0039265346368286234, "get_duckie_state": 1.4193945383648391e-06, "in-drivable-lane": 5.24999999999978, "deviation-heading": 14.942620800506676, "agent_compute-ego0": 0.01320116089146699, "complete-iteration": 0.1801653863190612, "set_robot_commands": 0.002371813435042331, "deviation-center-line": 3.8523098840301495, "driven_lanedir_consec": 6.114094213191869, "sim_compute_sim_state": 0.006638524534303282, "sim_compute_performance-ego0": 0.002123620091231042}}
set_robot_commands_max0.002371813435042331
set_robot_commands_mean0.0023349491786508955
set_robot_commands_median0.0023647445608850565
set_robot_commands_min0.0022384941577911375
sim_compute_performance-ego0_max0.0021549312617437024
sim_compute_performance-ego0_mean0.002120582166961772
sim_compute_performance-ego0_median0.002138362240533249
sim_compute_performance-ego0_min0.0020506729250368864
sim_compute_sim_state_max0.01411633621091428
sim_compute_sim_state_mean0.010746864715674076
sim_compute_sim_state_median0.01111629905873937
sim_compute_sim_state_min0.006638524534303282
sim_render-ego0_max0.0039778884130579825
sim_render-ego0_mean0.003912912903438016
sim_render-ego0_median0.003932576691677529
sim_render-ego0_min0.0038086098173390264
simulation-passed1
step_physics_max0.14561676564423934
step_physics_mean0.1301129526686877
step_physics_median0.12980109205876234
step_physics_min0.11523286091298685
survival_time_max59.99999999999873
survival_time_mean56.21249999999894
survival_time_min45.94999999999953
No reset possible
53765LFv-simerroryes0:10:19
InvalidEvaluator: Tr [...]
InvalidEvaluator:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 286, in main
    length_s = await run_episode(
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 577, in run_episode
    await loop.run_in_executor(executor, f)
  File "/usr/local/lib/python3.8/concurrent/futures/thread.py", line 57, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
    msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "simulator" aborted:

error in simulator |Exception while handling a message on topic "step".
                   |
                   || Traceback (most recent call last):
                   ||   File "/usr/local/lib/python3.8/site-packages/geometry/manifolds/special_euclidean_group.py", line 73, in belongs
                   ||     self.SOn.belongs(R)
                   ||   File "/usr/local/lib/python3.8/site-packages/geometry/manifolds/special_orthogonal_group.py", line 39, in belongs
                   ||     assert_allclose(det, 1, err_msg="I expect the determinant to be +1.")
                   ||   File "/usr/local/lib/python3.8/site-packages/numpy/testing/_private/utils.py", line 1527, in assert_allclose
                   ||     assert_array_compare(compare, actual, desired, err_msg=str(err_msg),
                   ||   File "/usr/local/lib/python3.8/site-packages/numpy/testing/_private/utils.py", line 764, in assert_array_compare
                   ||     flagged = func_assert_same_pos(x, y, func=isnan, hasval='nan')
                   ||   File "/usr/local/lib/python3.8/site-packages/numpy/testing/_private/utils.py", line 740, in func_assert_same_pos
                   ||     raise AssertionError(msg)
                   || AssertionError:
                   || Not equal to tolerance rtol=1e-07, atol=0
                   || I expect the determinant to be +1.
                   || x and y nan location mismatch:
                   ||  x: array(nan)
                   ||  y: array(1)
                   ||
                   || During handling of the above exception, another exception occurred:
                   ||
                   || Traceback (most recent call last):
                   ||   File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
                   ||     handle_message_node(parsed, receiver0, context0)
                   ||   File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper.py", line 531, in handle_message_node
                   ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
                   ||   File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
                   ||     f(**kwargs)
                   ||   File "/usr/local/lib/python3.8/site-packages/duckietown_simulator_gym/code.py", line 510, in on_received_step
                   ||     self.update_physics_and_observations(until=data.until, context=context)
                   ||   File "/usr/local/lib/python3.8/site-packages/duckietown_simulator_gym/code.py", line 560, in update_physics_and_observations
                   ||     pc.integrate(delta_time)
                   ||   File "/usr/local/lib/python3.8/site-packages/duckietown_simulator_gym/code.py", line 217, in integrate
                   ||     self.state = self.state.integrate(dt, self.last_commands.wheels)
                   ||   File "/usr/local/lib/python3.8/site-packages/duckietown_world/world_duckietown/dynamics_delay.py", line 74, in integrate
                   ||     state2 = self.state.integrate(dt, use_commands)
                   ||   File "/usr/local/lib/python3.8/site-packages/duckietown_world/world_duckietown/pwm_dynamics.py", line 199, in integrate
                   ||     s1 = GenericKinematicsSE2.integrate(self, dt, commands_se2)
                   ||   File "/usr/local/lib/python3.8/site-packages/duckietown_world/world_duckietown/generic_kinematics.py", line 48, in integrate
                   ||     return GenericKinematicsSE2(c1, t1)
                   ||   File "/usr/local/lib/python3.8/site-packages/duckietown_world/world_duckietown/generic_kinematics.py", line 26, in __init__
                   ||     geo.SE2.belongs(q0)
                   ||   File "/usr/local/lib/python3.8/site-packages/geometry/manifolds/special_euclidean_group.py", line 76, in belongs
                   ||     raise ValueError(msg)
                   || ValueError: The rotation is not a rotation:
                   || [[nan nan]
                   ||  [nan nan]]
                   ||

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

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 68, in go
    wrap(cie)
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 34, in wrap
    asyncio.run(main(cie, logdir, attempts), debug=True)
  File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 383, in main
    raise dc.InvalidEvaluator(msg) from e
duckietown_challenges.exceptions.InvalidEvaluator: Anomalous error while running episodes:
Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard.
No reset possible