Submission 18530

Submission

18530

Competing

yes

Challenge

aido-LFI-real-validation

User

Bence Haromi

Date submitted

2021-12-08 07:49:36+00:00

Last status update

2021-12-08 10:30:02+00:00

Complete

complete

Details

Evaluation is complete.

Sisters

Result

💚

Jobs

eval0: 121721 eval0-videos: 121750 eval0-visualize: 121736 eval1: 121771 eval1-videos: 121801 eval1-visualize: 121821 eval2: 121882 eval2-videos: 121932 eval2-visualize: 121929

User label

005-0.8

Admin priority

Blessing

n/a

User priority

121932

robot

watchtower

121929

Click the images to see detailed statistics about the episode.

sync

visualization

121821

Click the images to see detailed statistics about the episode.

sync

visualization

121801

robot

watchtower

121750

robot

watchtower

121736

Click the images to see detailed statistics about the episode.

sync

visualization

Evaluation jobs for this submission

See previous jobs for previous versions of challenges

Job ID

step

status

up to date

date started

date completed

duration

message

121932

eval2-videos

success

yes

2021-12-08 10:21:56+00:00

2021-12-08 10:27:45+00:00

0:05:49

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

121929

eval2-visualize

success

yes

2021-12-08 10:21:07+00:00

2021-12-08 10:27:17+00:00

0:06:10

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

driven_lanedir_consec	0.9912036659401484
survival_time	2.100219488143921
deviation-center-line	0.14204945936102
in-drivable-lane	0.0

other stats

deviation-heading	0.8757860753291667
distance-from-start	0.7920298049105501
driven_any	1.0716314979419337
driven_lanedir	0.9912036659401484
visualized-eval2-passed	1

No reset possible

121882

eval2

success

yes

2021-12-08 10:06:24+00:00

2021-12-08 10:08:16+00:00

0:01:52

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

No reset possible

121821

eval1-visualize

success

yes

2021-12-08 09:38:17+00:00

2021-12-08 09:38:56+00:00

0:00:39

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

driven_lanedir_consec	0.49762697170409087
survival_time	1.00007963180542
deviation-center-line	0.0363681626339089
in-drivable-lane	0.0

other stats

deviation-heading	0.04680024141039049
distance-from-start	0.4982620275429286
driven_any	0.49835835825469554
driven_lanedir	0.49762697170409087
visualized-eval1-passed	1

No reset possible

121818

eval1-visualize

success

yes

2021-12-08 09:37:25+00:00

2021-12-08 09:38:03+00:00

0:00:38

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

No reset possible

121814

eval1-visualize

success

yes

2021-12-08 09:36:29+00:00

2021-12-08 09:37:08+00:00

0:00:39

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

No reset possible

121812

eval1-visualize

success

yes

2021-12-08 09:35:35+00:00

2021-12-08 09:36:15+00:00

0:00:40

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

No reset possible

121810

eval1-visualize

success

yes

2021-12-08 09:34:38+00:00

2021-12-08 09:35:22+00:00

0:00:44

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

No reset possible

121807

eval1-visualize

success

yes

2021-12-08 09:33:42+00:00

2021-12-08 09:34:22+00:00

0:00:40

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

No reset possible

121805

eval1-visualize

success

yes

2021-12-08 09:32:46+00:00

2021-12-08 09:33:28+00:00

0:00:42

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

No reset possible

121801

eval1-videos

success

yes

2021-12-08 09:31:48+00:00

2021-12-08 09:32:31+00:00

0:00:43

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

121797

eval1-videos

success

yes

2021-12-08 09:30:54+00:00

2021-12-08 09:31:35+00:00

0:00:41

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

121793

eval1-videos

success

yes

2021-12-08 09:29:55+00:00

2021-12-08 09:30:41+00:00

0:00:46

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

121789

eval1-videos

success

yes

2021-12-08 09:28:55+00:00

2021-12-08 09:29:41+00:00

0:00:46

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

121786

eval1-videos

success

yes

2021-12-08 09:27:54+00:00

2021-12-08 09:28:41+00:00

0:00:47

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

121781

eval1-videos

success

yes

2021-12-08 09:26:20+00:00

2021-12-08 09:27:41+00:00

0:01:21

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

121771

eval1

success

yes

2021-12-08 09:21:05+00:00

2021-12-08 09:25:09+00:00

0:04:04

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

No reset possible

121750

eval0-videos

success

yes

2021-12-08 08:50:15+00:00

2021-12-08 08:50:54+00:00

0:00:39

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

121748

eval0-videos

success

yes

2021-12-08 08:49:27+00:00

2021-12-08 08:50:07+00:00

0:00:40

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

121746

eval0-videos

success

yes

2021-12-08 08:48:38+00:00

2021-12-08 08:49:19+00:00

0:00:41

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

121743

eval0-videos

success

yes

2021-12-08 08:47:51+00:00

2021-12-08 08:48:30+00:00

0:00:39

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

121741

eval0-videos

success

yes

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

2021-12-08 08:47:42+00:00

0:00:42

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

121739

eval0-videos

success

yes

2021-12-08 08:46:10+00:00

2021-12-08 08:46:49+00:00

0:00:39

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

121738

eval0-videos

success

yes

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

2021-12-08 08:46:01+00:00

0:00:44

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

121736

eval0-visualize

success

yes

2021-12-08 08:44:29+00:00

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

0:00:39

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

driven_lanedir_consec	0.5017114634331925
survival_time	1.0981144905090332
deviation-center-line	0.032119285137398326
in-drivable-lane	0.0

other stats

deviation-heading	0.21596445836961664
distance-from-start	0.5306836442833174
driven_any	0.5503109413454678
driven_lanedir	0.5017114634331925
visualized-eval0-passed	1

No reset possible

121734

eval0-visualize

success

yes

2021-12-08 08:43:41+00:00

2021-12-08 08:44:21+00:00

0:00:40

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

No reset possible

121733

eval0-visualize

success

yes

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

2021-12-08 08:43:31+00:00

0:00:41

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

No reset possible

121732

eval0-visualize

success

yes

2021-12-08 08:41:59+00:00

2021-12-08 08:42:40+00:00

0:00:41

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

No reset possible

121731

eval0-visualize

success

yes

2021-12-08 08:41:01+00:00

2021-12-08 08:41:42+00:00

0:00:41

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

No reset possible

121730

eval0-visualize

success

yes

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

2021-12-08 08:40:52+00:00

0:00:40

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

No reset possible

121728

eval0-visualize

success

yes

2021-12-08 08:38:52+00:00

2021-12-08 08:40:02+00:00

0:01:10

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

No reset possible

121721

eval0

success

yes

2021-12-08 08:16:56+00:00

2021-12-08 08:19:09+00:00

0:02:13

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

No reset possible

121719

eval0

aborted

yes

2021-12-08 08:09:38+00:00

2021-12-08 08:11:27+00:00

0:01:49

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 08:09:45.117545: 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 08:09:45.117564: 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 08:09:48.821232: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:939] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero
2021-12-08 08:09:48.821422: 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 08:09:48.821499: 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 08:09:48.821561: 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 08:09:48.821621: 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 08:09:48.821678: 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 08:09:48.821741: 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 08:09:48.821807: 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 08:09:48.821867: 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 08:09:48.821877: 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:bb213d18d26e:RLlibAgent: init()
WARNING:config.config:Found paths with seed 5:
WARNING:config.config:0: ./models/TestPPO+DA_0005/Nov25_15-49-01/config_dump_0005.yml
WARNING:config.config:Found checkpoints in ./models/TestPPO+DA_0005/Nov25_15-49-01:
WARNING:config.config:0: ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000445/checkpoint-445
WARNING:config.config:1: ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000977/checkpoint-977
WARNING:config.config:Config loaded from ./models/TestPPO+DA_0005/Nov25_15-49-01/config_dump_0005.yml
WARNING:config.config:Model checkpoint loaded from ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000445/checkpoint-445
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:bb213d18d26e:RLlibAgent: === Wrappers ===================================
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e: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:bb213d18d26e:RLlibAgent: Action wrappers
 <Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e: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:bb213d18d26e:RLlibAgent: === Config ===================================
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: seed: 5
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: false
  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: 5
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
  callbacks: {}
  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: false
    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: 5
  explore: false

2021-12-08 08:09:52,186	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 08:09:53,770	INFO logger.py:180 -- pip install 'ray[tune]' to see TensorBoard files.
2021-12-08 08:09:53,770	WARNING logger.py:325 -- Could not instantiate TBXLogger: No module named 'tensorboardX'.
2021-12-08 08:09:53,772	WARNING deprecation.py:38 -- DeprecationWarning: `monitor` has been deprecated. Use `record_env` instead. This will raise an error in the future!
2021-12-08 08:09:53,772	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 08:09:53,772	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 08:09:53,772	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 08:09:53,932	WARNING util.py:57 -- Install gputil for GPU system monitoring.
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: Restoring checkpoint from: ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000445/checkpoint-445
2021-12-08 08:09:53,956	INFO trainable.py:416 -- Restored on 172.17.0.2 from checkpoint: ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000445/checkpoint-445
2021-12-08 08:09:53,956	INFO trainable.py:424 -- Current state after restoring: {'_iteration': 445, '_timesteps_total': 0, '_time_total': 8838.157283067703, '_episodes_total': 1361}
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: Starting episode "episode"
INFO:aido_schemas: data: EpisodeStart(episode_name=episode)
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INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: camera timestamp: 1638951044.9687686
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: odometry timestamp: 1638951044.9624207
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: camera timestamp: 1638951044.9687686
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INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: camera timestamp: 1638951045.0359843
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: odometry timestamp: 1638951044.9959106
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: camera timestamp: 1638951045.0710797
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: odometry timestamp: 1638951045.0625365
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: camera timestamp: 1638951045.0710797
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: odometry timestamp: 1638951045.0958543
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: camera timestamp: 1638951045.1024232
INFO:nodes_wrapper.RLlibAgent.data:bb213d18d26e:RLlibAgent: odometry timestamp: 1638951045.0958543
*** SIGTERM received at time=1638951045 on cpu 2 ***
PC: @     0x7fc464dde838  (unknown)  (unknown)
    @     0x7fc464c96210  (unknown)  (unknown)
[2021-12-08 08:10:45,129 E 1 1] logging.cc:313: *** SIGTERM received at time=1638951045 on cpu 2 ***
[2021-12-08 08:10:45,129 E 1 1] logging.cc:313: PC: @     0x7fc464dde838  (unknown)  (unknown)
[2021-12-08 08:10:45,129 E 1 1] logging.cc:313:     @     0x7fc464c96210  (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
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obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
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obs shape: (84, 84, 9)
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obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
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obs shape: (320, 640, 3)
obs shape: (84, 84, 3)
obs shape: (84, 84, 9)
obs shape: (84, 84, 9)
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obs shape: (84, 84, 9)
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     |    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 122, in jpg2rgb
     |    im = im.convert("RGB")
     |  File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 927, in convert
     |    return self.copy()
     |  File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 1155, in copy
     |    return self._new(self.im.copy())
     |  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 122, in jpg2rgb
     ||     im = im.convert("RGB")
     ||   File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 927, in convert
     ||     return self.copy()
     ||   File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 1155, in copy
     ||     return self._new(self.im.copy())
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 1027, in sigterm_handler
     ||     sys.exit(signum)
     || SystemExit: 15
     ||
     |
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 122, in jpg2rgb
    im = im.convert("RGB")
  File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 927, in convert
    return self.copy()
  File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 1155, in copy
    return self._new(self.im.copy())
  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 122, in jpg2rgb
|     im = im.convert("RGB")
|   File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 927, in convert
|     return self.copy()
|   File "/usr/local/lib/python3.8/dist-packages/PIL/Image.py", line 1155, in copy
|     return self._new(self.im.copy())
|   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

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

No reset possible

121716

eval0

aborted

yes

2021-12-08 07:54:35+00:00

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

0:05:53

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 07:59:31.603782: 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 07:59:31.603802: 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 07:59:36.317970: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:939] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero
2021-12-08 07:59:36.318187: 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 07:59:36.318291: 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 07:59:36.318372: 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 07:59:36.318441: 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 07:59:36.318515: 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 07:59:36.318590: 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 07:59:36.318659: 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 07:59:36.318732: 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 07:59:36.318742: 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:db1d70bc011d:RLlibAgent: init()
WARNING:config.config:Found paths with seed 5:
WARNING:config.config:0: ./models/TestPPO+DA_0005/Nov25_15-49-01/config_dump_0005.yml
WARNING:config.config:Found checkpoints in ./models/TestPPO+DA_0005/Nov25_15-49-01:
WARNING:config.config:0: ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000445/checkpoint-445
WARNING:config.config:1: ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000977/checkpoint-977
WARNING:config.config:Config loaded from ./models/TestPPO+DA_0005/Nov25_15-49-01/config_dump_0005.yml
WARNING:config.config:Model checkpoint loaded from ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000445/checkpoint-445
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:db1d70bc011d:RLlibAgent: === Wrappers ===================================
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d: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:db1d70bc011d:RLlibAgent: Action wrappers
 <Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<InconvenientSpawnFixingWrapper<DummyDuckietownGymLikeEnv instance>>>>>>>
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d: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:db1d70bc011d:RLlibAgent: === Config ===================================
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: seed: 5
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: false
  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: 5
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
  callbacks: {}
  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: false
    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: 5
  explore: false

2021-12-08 07:59:36,695	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 07:59:37,181	INFO logger.py:180 -- pip install 'ray[tune]' to see TensorBoard files.
2021-12-08 07:59:37,181	WARNING logger.py:325 -- Could not instantiate TBXLogger: No module named 'tensorboardX'.
2021-12-08 07:59:37,182	WARNING deprecation.py:38 -- DeprecationWarning: `monitor` has been deprecated. Use `record_env` instead. This will raise an error in the future!
2021-12-08 07:59:37,182	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 07:59:37,182	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 07:59:37,182	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 07:59:37,337	WARNING util.py:57 -- Install gputil for GPU system monitoring.
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: Restoring checkpoint from: ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000445/checkpoint-445
2021-12-08 07:59:37,360	INFO trainable.py:416 -- Restored on 172.17.0.2 from checkpoint: ./models/TestPPO+DA_0005/Nov25_15-49-01/PPO_0_2021-11-25_15-49-04/checkpoint_000445/checkpoint-445
2021-12-08 07:59:37,360	INFO trainable.py:424 -- Current state after restoring: {'_iteration': 445, '_timesteps_total': 0, '_time_total': 8838.157283067703, '_episodes_total': 1361}
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: Starting episode "episode"
INFO:aido_schemas: data: EpisodeStart(episode_name=episode)
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.667436
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 0.0
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.7041285
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 0.0
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.7041285
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.7291129
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.7369606
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.762472
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.7724032
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.762472
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.7724032
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.7958312
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.8034565
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.7958312
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.8034565
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.8291528
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.8365664
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.8291528
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.8365664
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.8636127
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.8684542
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.8636127
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.8684542
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.8957891
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.900972
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.8957891
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.900972
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.929084
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950377.9340353
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950377.929084
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INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950389.965781
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INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950389.9833305
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.0026555
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.0167077
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.0338511
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.0500135
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.0338511
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.08338
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.100797
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.1166594
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.1319668
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.1499517
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.165032
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.183285
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.1981308
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.2166502
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INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.2320313
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.2166502
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.2320313
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.250008
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.2690983
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.2833157
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.3009589
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.2833157
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.3009589
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.3166883
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.3340664
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.3166883
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.3340664
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.3503625
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.3673854
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.3503625
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: camera timestamp: 1638950390.398176
INFO:nodes_wrapper.RLlibAgent.data:db1d70bc011d:RLlibAgent: odometry timestamp: 1638950390.3958452
*** SIGTERM received at time=1638950390 on cpu 5 ***
PC: @     0x7fee741b9178  (unknown)  (unknown)
    @     0x7fefda13f210  (unknown)  (unknown)
[2021-12-08 07:59:50,466 E 1 1] logging.cc:313: *** SIGTERM received at time=1638950390 on cpu 5 ***
[2021-12-08 07:59:50,468 E 1 1] logging.cc:313: PC: @     0x7fee741b9178  (unknown)  (unknown)
[2021-12-08 07:59:50,469 E 1 1] logging.cc:313:     @     0x7fefda13f210  (unknown)  (unknown)
obs shape: (84, 84, 9)
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obs shape: (84, 84, 3)
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obs shape: (84, 84, 9)
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obs shape: (320, 640, 3)
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obs shape: (84, 84, 9)
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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 89, in on_received_get_commands
     |    pwm_left, pwm_right = self.compute_action(self.current_image)*0.8
     |  File "/code/solution.py", line 79, in compute_action
     |    action = self.model.predict(observation)
     |  File "/code/model.py", line 70, in predict
     |    action = self.model.compute_action(observation, explore=False)
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
     |    return obj(*args, **kwargs)
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
     |    return self.compute_single_action(*args, **kwargs)
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
     |    action, state, extra = policy.compute_single_action(
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
     |    out = self.compute_actions_from_input_dict(
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
     |    return self._compute_action_helper(input_dict, state_batches,
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
     |    return func(self, *a, **k)
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 388, in _compute_action_helper
     |    extra_fetches = self.extra_action_out(input_dict, state_batches,
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy_template.py", line 350, in extra_action_out
     |    stats_dict = extra_action_out_fn(
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/ppo/ppo_torch_policy.py", line 175, in vf_preds_fetches
     |    SampleBatch.VF_PREDS: model.value_function(),
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 241, in value_function
     |    value = self._value_branch_separate(self._features)
     |  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
     |    return forward_call(*input, **kwargs)
     |  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/container.py", line 141, in forward
     |    input = module(input)
     |  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
     |    return forward_call(*input, **kwargs)
     |  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/misc.py", line 118, in forward
     |    return self._model(x)
     |  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
     |    return forward_call(*input, **kwargs)
     |  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/container.py", line 141, in forward
     |    input = module(input)
     |  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
     |    return forward_call(*input, **kwargs)
     |  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/conv.py", line 446, in forward
     |    return self._conv_forward(input, self.weight, self.bias)
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)
     |  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/conv.py", line 442, in _conv_forward
     |    return F.conv2d(input, weight, bias, self.stride,
     |  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 "get_commands".
     |
     || 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 89, in on_received_get_commands
     ||     pwm_left, pwm_right = self.compute_action(self.current_image)*0.8
     ||   File "/code/solution.py", line 79, in compute_action
     ||     action = self.model.predict(observation)
     ||   File "/code/model.py", line 70, in predict
     ||     action = self.model.compute_action(observation, explore=False)
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
     ||     return obj(*args, **kwargs)
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
     ||     return self.compute_single_action(*args, **kwargs)
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
     ||     action, state, extra = policy.compute_single_action(
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
     ||     out = self.compute_actions_from_input_dict(
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
     ||     return self._compute_action_helper(input_dict, state_batches,
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
     ||     return func(self, *a, **k)
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 388, in _compute_action_helper
     ||     extra_fetches = self.extra_action_out(input_dict, state_batches,
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy_template.py", line 350, in extra_action_out
     ||     stats_dict = extra_action_out_fn(
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/ppo/ppo_torch_policy.py", line 175, in vf_preds_fetches
     ||     SampleBatch.VF_PREDS: model.value_function(),
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 241, in value_function
     ||     value = self._value_branch_separate(self._features)
     ||   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
     ||     return forward_call(*input, **kwargs)
     ||   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/container.py", line 141, in forward
     ||     input = module(input)
     ||   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
     ||     return forward_call(*input, **kwargs)
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/misc.py", line 118, in forward
     ||     return self._model(x)
     ||   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
     ||     return forward_call(*input, **kwargs)
     ||   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/container.py", line 141, in forward
     ||     input = module(input)
     ||   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
     ||     return forward_call(*input, **kwargs)
     ||   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/conv.py", line 446, in forward
     ||     return self._conv_forward(input, self.weight, self.bias)
     ||   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/conv.py", line 442, in _conv_forward
     ||     return F.conv2d(input, weight, bias, self.stride,
     ||   File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 1027, in sigterm_handler
     ||     sys.exit(signum)
     || SystemExit: 15
     ||
     |
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 89, in on_received_get_commands
    pwm_left, pwm_right = self.compute_action(self.current_image)*0.8
  File "/code/solution.py", line 79, in compute_action
    action = self.model.predict(observation)
  File "/code/model.py", line 70, in predict
    action = self.model.compute_action(observation, explore=False) 
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
    return obj(*args, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
    return self.compute_single_action(*args, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
    action, state, extra = policy.compute_single_action(
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
    out = self.compute_actions_from_input_dict(
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
    return self._compute_action_helper(input_dict, state_batches,
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
    return func(self, *a, **k)
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 388, in _compute_action_helper
    extra_fetches = self.extra_action_out(input_dict, state_batches,
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy_template.py", line 350, in extra_action_out
    stats_dict = extra_action_out_fn(
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/ppo/ppo_torch_policy.py", line 175, in vf_preds_fetches
    SampleBatch.VF_PREDS: model.value_function(),
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 241, in value_function
    value = self._value_branch_separate(self._features)
  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/container.py", line 141, in forward
    input = module(input)
  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/misc.py", line 118, in forward
    return self._model(x)
  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/container.py", line 141, in forward
    input = module(input)
  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/conv.py", line 446, in forward
    return self._conv_forward(input, self.weight, self.bias)
  File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/conv.py", line 442, in _conv_forward
    return F.conv2d(input, weight, bias, self.stride,
  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 "get_commands".

| 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 89, in on_received_get_commands
|     pwm_left, pwm_right = self.compute_action(self.current_image)*0.8
|   File "/code/solution.py", line 79, in compute_action
|     action = self.model.predict(observation)
|   File "/code/model.py", line 70, in predict
|     action = self.model.compute_action(observation, explore=False)
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/annotations.py", line 101, in _ctor
|     return obj(*args, **kwargs)
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1162, in compute_action
|     return self.compute_single_action(*args, **kwargs)
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/trainer.py", line 1132, in compute_single_action
|     action, state, extra = policy.compute_single_action(
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy.py", line 243, in compute_single_action
|     out = self.compute_actions_from_input_dict(
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 302, in compute_actions_from_input_dict
|     return self._compute_action_helper(input_dict, state_batches,
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/utils/threading.py", line 21, in wrapper
|     return func(self, *a, **k)
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/torch_policy.py", line 388, in _compute_action_helper
|     extra_fetches = self.extra_action_out(input_dict, state_batches,
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/policy/policy_template.py", line 350, in extra_action_out
|     stats_dict = extra_action_out_fn(
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/agents/ppo/ppo_torch_policy.py", line 175, in vf_preds_fetches
|     SampleBatch.VF_PREDS: model.value_function(),
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/visionnet.py", line 241, in value_function
|     value = self._value_branch_separate(self._features)
|   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
|     return forward_call(*input, **kwargs)
|   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/container.py", line 141, in forward
|     input = module(input)
|   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
|     return forward_call(*input, **kwargs)
|   File "/usr/local/lib/python3.8/dist-packages/ray/rllib/models/torch/misc.py", line 118, in forward
|     return self._model(x)
|   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
|     return forward_call(*input, **kwargs)
|   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/container.py", line 141, in forward
|     input = module(input)
|   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/module.py", line 1102, in _call_impl
|     return forward_call(*input, **kwargs)
|   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/conv.py", line 446, in forward
|     return self._conv_forward(input, self.weight, self.bias)
|   File "/usr/local/lib/python3.8/dist-packages/torch/nn/modules/conv.py", line 442, in _conv_forward
|     return F.conv2d(input, weight, bias, self.stride,
|   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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