Submission 13303

DEBUG:commons:version: 6.1.7 *
INFO:typing:version: 6.1.8
DEBUG:aido_schemas:aido-protocols version 6.0.33 path /usr/local/lib/python3.8/dist-packages
INFO:nodes:version 6.1.1 path /usr/local/lib/python3.8/dist-packages pyparsing 2.4.6
WARNING:tensorflow:From /usr/local/lib/python3.8/dist-packages/tensorflow/python/compat/v2_compat.py:96: disable_resource_variables (from tensorflow.python.ops.variable_scope) is deprecated and will be removed in a future version.
Instructions for updating:
non-resource variables are not supported in the long term
DEBUG:ipce:version 6.0.36 path /usr/local/lib/python3.8/dist-packages
INFO:nodes_wrapper:checking implementation
INFO:nodes_wrapper:checking implementation OK
DEBUG:nodes_wrapper:run_loop
  fin: /fifos/ego2-in
 fout: fifo:/fifos/ego2-out
INFO:nodes_wrapper:Fifo /fifos/ego2-out created. I will block until a reader appears.
INFO:nodes_wrapper:Fifo reader appeared for /fifos/ego2-out.
INFO:nodes_wrapper:Node RLlibAgent starting reading
 fi_desc: /fifos/ego2-in
 fo_desc: fifo:/fifos/ego2-out
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: PytorchRllibAgent init
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:
  num_workers: 0
  num_gpus: 0
  callbacks: {}
ray_init_config:
  num_cpus: 1
  object_store_memory: 209715200
  local_mode: true

INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: === Wrappers ===================================
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: Observation wrappers
 <ResizeWrapper<DummyDuckietownGymLikeEnv instance>>
<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>
<SegmentObsWrapper<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>>
<ResizeWrapper<SegmentObsWrapper<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>>>
<ObservationBufferWrapper<ResizeWrapper<SegmentObsWrapper<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>>>>
<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<SegmentObsWrapper<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: Action wrappers
 <Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<SegmentObsWrapper<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>>
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: Reward wrappers
 <DtRewardPosAngle<Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<SegmentObsWrapper<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>>>
<DtRewardVelocity<DtRewardPosAngle<Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<SegmentObsWrapper<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>>>>
<DtRewardCollisionAvoidance<DtRewardVelocity<DtRewardPosAngle<Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<SegmentObsWrapper<RGB2BGRWrapper<ResizeWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>>>>>
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: === Config ===================================
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: seed: 3626
experiment_name: Run_20201207-082043
algo: PPO
algo_config_files:
  PPO: config/algo/ppo.yml
  general: config/algo/general.yml
  DDPG: config/algo/ddpq.yml
  APEX: config/algo/apex.yml
  IMPALA: config/algo/impala.yaml
  SAC: config/algo/sac.yml
env_config:
  mode: inference
  episode_max_steps: 500
  resized_input_shape: (84, 84)
  crop_image_top: false
  top_crop_divider: 3
  grayscale_image: false
  frame_stacking: true
  frame_stacking_depth: 3
  motion_blur: false
  segment: true
  action_type: heading
  reward_function: posangle
  distortion: true
  accepted_start_angle_deg: 15
  simulation_framerate: 20
  frame_skip: 2
  action_delay_ratio: 0.3
  training_map: multimap1
  domain_rand: true
  dynamics_rand: true
  camera_rand: true
  frame_repeating: 0.15
  spawn_obstacles: false
  obstacles:
    duckie:
      density: 0.1
      static: false
    duckiebot:
      density: 0.0
      static: true
  spawn_forward_obstacle: false
  wandb:
    project: duckietown-rllib
  experiment_name: Run_20201207-082043
  seed: 3626
ray_init_config:
  num_cpus: 1
  object_store_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
    object_store_memory: 209715200
    local_mode: true
inference_hparams:
  rllib_config:
    num_workers: 0
    num_gpus: 0
    callbacks: {}
  ray_init_config:
    num_cpus: 1
    object_store_memory: 209715200
    local_mode: true
timesteps_total: 2500000.0
rllib_config:
  num_workers: 0
  num_gpus: 0
  num_gpus_per_worker: 0.05
  train_batch_size: 4096
  gamma: 0.988
  lr: 5.0e-05
  monitor: false
  evaluation_interval: 40
  evaluation_num_episodes: 3
  evaluation_config:
    monitor: true
  seed: 42
  lambda: 0.9
  sgd_minibatch_size: 128
  vf_loss_coeff: 0.5
  entropy_coeff: 0.0
  clip_param: 0.24
  vf_clip_param: 300
  grad_clip: 0.5
  framework: torch
  env: Duckietown
  callbacks: {}
  env_config:
    mode: inference
    episode_max_steps: 500
    resized_input_shape: (84, 84)
    crop_image_top: false
    top_crop_divider: 3
    grayscale_image: false
    frame_stacking: true
    frame_stacking_depth: 3
    motion_blur: false
    segment: true
    action_type: heading
    reward_function: posangle
    distortion: true
    accepted_start_angle_deg: 15
    simulation_framerate: 20
    frame_skip: 2
    action_delay_ratio: 0.3
    training_map: multimap1
    domain_rand: true
    dynamics_rand: true
    camera_rand: true
    frame_repeating: 0.15
    spawn_obstacles: false
    obstacles:
      duckie:
        density: 0.1
        static: false
      duckiebot:
        density: 0.0
        static: true
    spawn_forward_obstacle: false
    wandb:
      project: duckietown-rllib
    experiment_name: Run_20201207-082043
    seed: 3626
  logger_config:
    wandb:
      project: duckietown-rllib
      name: Run_20201207-082043

2020-12-12 10:24:08,390	INFO services.py:1090 -- View the Ray dashboard at http://127.0.0.1:8265
2020-12-12 10:24:08,394	WARNING services.py:1552 -- WARNING: The object store is using /tmp instead of /dev/shm because /dev/shm has only 67108864 bytes available. This may slow down performance! You may be able to free up space by deleting files in /dev/shm or terminating any running plasma_store_server processes. If you are inside a Docker container, you may need to pass an argument with the flag '--shm-size' to 'docker run'.
2020-12-12 10:24:10,418	ERROR syncer.py:63 -- Log sync requires rsync to be installed.
2020-12-12 10:24:10,475	INFO trainer.py:617 -- Current log_level is WARN. For more information, set 'log_level': 'INFO' / 'DEBUG' or use the -v and -vv flags.
/usr/local/lib/python3.8/dist-packages/gym/logger.py:30: 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.
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
2020-12-12 10:24:10,742	WARNING util.py:40 -- Install gputil for GPU system monitoring.
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: Restoring checkpoint from: models/checkpoint-316
2020-12-12 10:24:10,802	INFO trainable.py:481 -- Restored on 172.17.0.6 from checkpoint: models/checkpoint-316
2020-12-12 10:24:10,803	INFO trainable.py:489 -- Current state after restoring: {'_iteration': 316, '_timesteps_total': None, '_time_total': 67590.32456445694, '_episodes_total': 9668}
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: PytorchRllibAgent init complete
INFO:nodes_wrapper:56d0fd0d7c9a:RLlibAgent: Starting episode "episode".
*** Aborted at 1607768712 (unix time) try "date -d @1607768712" if you are using GNU date ***
PC: @                0x0 (unknown)
*** SIGTERM (@0x0) received by PID 1 (TID 0x7f8e8f48c740) from PID 0; stack trace: ***
    @     0x7f8e8f69e210 (unknown)
    @     0x7f8dee9f06a0 (unknown)
    @     0x7f8df00828b8 torch::autograd::VariableType::(anonymous namespace)::mul_Tensor()
    @     0x7f8dee1f6ef0 c10::impl::wrap_kernel_functor_unboxed_<>::call()
    @     0x7f8deeb0691b c10::Dispatcher::callWithDispatchKey<>()
    @     0x7f8deec46f1c at::Tensor::mul()
    @     0x7f8dfe63cedb torch::autograd::THPVariable_mul()
    @     0x7f8dfe63d6a6 torch::autograd::TypeError_to_NotImplemented_<>()
    @           0x503a29 (unknown)
    @           0x5749f8 (unknown)
    @           0x5f2f15 _PyObject_FastCall_Prepend
    @           0x5fd39f (unknown)
    @           0x69de89 (unknown)
    @           0x50f79b PyNumber_Multiply
    @           0x56bced _PyEval_EvalFrameDefault
    @           0x5f7146 _PyFunction_Vectorcall
    @           0x56b399 _PyEval_EvalFrameDefault
    @           0x50a14e (unknown)
    @           0x570286 _PyEval_EvalFrameDefault
    @           0x56955a _PyEval_EvalCodeWithName
    @           0x5f7323 _PyFunction_Vectorcall
    @           0x56b399 _PyEval_EvalFrameDefault
    @           0x5f7146 _PyFunction_Vectorcall
    @           0x56b399 _PyEval_EvalFrameDefault
    @           0x5f7146 _PyFunction_Vectorcall
    @           0x56b399 _PyEval_EvalFrameDefault
    @           0x56955a _PyEval_EvalCodeWithName
    @           0x50a2c0 (unknown)
    @           0x56c451 _PyEval_EvalFrameDefault
    @           0x5f7146 _PyFunction_Vectorcall
    @           0x56b399 _PyEval_EvalFrameDefault
    @           0x56955a _PyEval_EvalCodeWithName