about eval results
woltium opened this issue · comments
The result I obtained after i use this command
python main.py --exp_name 'eval_coscan_mp3dhq0f' --scenes_file scenes/mp3d-f.scenes --dump_location std --num_episodes 1 --load_global train/models/ma3_history/hrl3.global
is :
python main.py --exp_name 'eval_coscan_mp3dhq0f' --scenes_file scenes/mp3d-f.scenes --dump_location std --num_episodes 1 --load_global train/models/ma3_history/hrl3.global：
INFO:root:
Final Exp Area:
1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923 , 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.4992 3, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.499 23, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49 923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.4 9923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1. 49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1 .49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923 , 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.4992 3, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.49923, 1.499 23, 1.49923, 1.49923, 1.49923, 1.49923,
Final Exp Ratio:
0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799 , 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.0179 9, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.017 99, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01 799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.0 1799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0. 01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0 .01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799 , 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.0179 9, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.01799, 0.017 99, 0.01799, 0.01799, 0.01799, 0.01799,
Final Close Lengths:
2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00,
Final Bump Counts:
1325.0, 5235.0, 361.0, 3249.0, 1688.0, 238.0, 1681.0, 4388.0, 4442.0, 3872.0, 11 2.0, 434.0, 222.0,
Final Continuous Bump Counts:
1219.0, 1447.0, 68.0, 1549.0, 715.0, 78.0, 262.0, 1788.0, 2598.0, 1309.0, 16.0, 123.0, 38.0,
according to my understanding, this refers to the result of a single episode. How can I get the proportion of the entire map that is finally explored as in the paper (up to 90%)?
Your result looks uncommon.
Basically, the Final Exp Ratio represents the proportion of explored area of each scene.
But here they are all 1.8%. Well, maybe the mp3d dataset is broken.
Maybe you can try Gibson dataset instead to see if the final explored ratio is up to 90%.
thanks for your aggestion
i tried
python main.py --exp_name 'eval_coscan_mp3dhq0f' --scenes_file scenes/hq-a.scenes --dump_location std --num_episodes 2 --load_global train/models/ma3_history/hrl3.global
but got:
2023-04-10 11:31:36,764 Computing map for Bolton
2023-04-10 11:31:37,138 Computing map for Avonia
2023-04-10 11:31:37,194 Computing map for Applewold
2023-04-10 11:31:37,376 Computing map for Brevort
2023-04-10 11:31:38,297 Computing map for Crandon
2023-04-10 11:31:38,476 Computing map for Andover
2023-04-10 11:31:38,515 Computing map for Cooperstown
2023-04-10 11:31:38,748 Computing map for Caruthers
2023-04-10 11:31:39,658 Computing map for Adrian
Loading global train/models/ma3_history/hrl3.global
INFO:root:Time: 00d 00h 00m 06s, num timesteps 0, FPS 0,
Rewards:
Losses:
INFO:root:Time: 00d 00h 17m 52s, num timesteps 2250, FPS 2,
Rewards:
Losses:
INFO:root:Time: 00d 00h 33m 49s, num timesteps 4500, FPS 2,
Rewards:
Losses:
INFO:root:Time: 00d 00h 44m 49s, num timesteps 6750, FPS 2,
Rewards:
Losses:
INFO:root:Time: 00d 00h 56m 07s, num timesteps 9000, FPS 2,
Rewards:
Losses:
INFO:root:Time: 00d 01h 07m 09s, num timesteps 11250, FPS 2,
Rewards:
Losses:
INFO:root:Time: 00d 01h 18m 15s, num timesteps 13500, FPS 2,
Rewards:
Losses:
INFO:root:Time: 00d 01h 30m 08s, num timesteps 15750, FPS 2,
Rewards:
Losses:
INFO:root:Time: 00d 01h 40m 16s, num timesteps 18000, FPS 2,
Rewards:
Losses:
INFO:root:Time: 00d 01h 50m 38s, num timesteps 20250, FPS 3,
Rewards:
Losses:
INFO:root:Time: 00d 02h 00m 45s, num timesteps 22500, FPS 3,
Rewards:
Losses:
INFO:root:Time: 00d 02h 11m 41s, num timesteps 24750, FPS 3,
Rewards:
Losses:
2023-04-10 13:56:18,123 Computing map for Avonia
2023-04-10 13:56:19,498 Computing map for Brevort
2023-04-10 13:56:19,550 Computing map for Crandon
2023-04-10 13:56:19,619 Computing map for Bolton
2023-04-10 13:56:20,018 Computing map for Caruthers
2023-04-10 13:56:20,129 Computing map for Cooperstown
2023-04-10 13:56:20,155 Computing map for Adrian
2023-04-10 13:56:20,255 Computing map for Andover
2023-04-10 13:56:21,056 Computing map for Applewold
INFO:root:Time: 00d 02h 24m 13s, num timesteps 27000, FPS 3,
Rewards: Global step mean/med rew: 0.0000/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 02h 36m 41s, num timesteps 29250, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 02h 50m 41s, num timesteps 31500, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 03h 04m 27s, num timesteps 33750, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 03h 18m 32s, num timesteps 36000, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 03h 30m 02s, num timesteps 38250, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 03h 42m 02s, num timesteps 40500, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 03h 55m 15s, num timesteps 42750, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 04h 08m 24s, num timesteps 45000, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 04h 21m 02s, num timesteps 47250, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 04h 34m 00s, num timesteps 49500, FPS 3,
Rewards: Global step mean/med rew: 0.0137/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
INFO:root:Time: 00d 04h 47m 03s, num timesteps 51750, FPS 3,
Rewards: Global step mean/med rew: 0.0000/0.0000, Global eps mean/med/min/max eps rew: 1.366/1.366/1.366/1.366, Global eps mean/med eps len: 2999/2999,
Losses:
2023-04-10 16:32:35,027 Computing map for Bolton
2023-04-10 16:32:35,181 Computing map for Avonia
2023-04-10 16:32:35,238 Computing map for Crandon
2023-04-10 16:32:35,543 Computing map for Applewold
2023-04-10 16:32:35,559 Computing map for Andover
2023-04-10 16:32:35,588 Computing map for Caruthers
2023-04-10 16:32:35,690 Computing map for Brevort
2023-04-10 16:32:35,734 Computing map for Cooperstown
2023-04-10 16:32:35,744 Computing map for Adrian
INFO:root:
Final Exp Area:
1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000, 1.37000,
Final Exp Ratio:
0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157, 0.04157,
Final Close Lengths:
2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00, 2999.00,
Final Bump Counts:
1465.0, 5619.0, 181.0, 1694.5, 3440.5, 2320.0, 1333.0, 1484.0, 4187.0,
Final Continuous Bump Counts:
1343.5, 2429.0, 61.0, 714.5, 1976.5, 478.0, 704.5, 513.5, 1760.5,
Does this mean the gitbision dataset is also broken ? Or is the result relative to num_episodes，which is 2 in my command?
I think there must be something broken...
Were you install all packages by the script build.sh ?
(btw, use --vis_type 1 can visualize the process, which may help to find the problems)
thanks for your answer,i've rebuild the environment and i am sure all packaes are installed.
and i tried the --vis_tpye command,but found there is no images. the error shows that my GLSL version is too low ,but i use 2080ti and my driver is latest
(/root/autodl-tmp/NeuralCoMapping/venv) root@autodl-container-755011a052-b98b3f7b:~/autodl-tmp/NeuralCoMapping# python main.py --exp_name 'wwstest' --scenes_file scenes/wws.scenes --dump_location std --num_episodes 1 --load_global hrl3.global --vis_type 1
/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gym/core.py:27: UserWarning: WARN: Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+
"Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+"
INFO:root:Importing iGibson (gibson2 module)
INFO:root:Assets path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets
INFO:root:Gibson Dataset path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/g_dataset
INFO:root:iG Dataset path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/ig_dataset
INFO:root:3D-FRONT Dataset path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/threedfront_dataset
INFO:root:CubiCasa5K Dataset path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/cubicasa_dataset
INFO:root:Example path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/examples
INFO:root:Example config path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/examples/configs
Dumping at std/models/wwstest/
INFO:root:Namespace(ablation=0, action_loss_coef=1.0, baseline='none', centralized=1, clip_param=0.2, config_file='basic.yaml', critic_lr_coef=0.05, cuda=True, depth_noise_rate=0, depth_obs=0, du_scale=2, dump_location='std', entropy_coef=0.0001, env_frame_height=192, env_frame_width=192, eps=1e-05, eval=1, eval_eps_freq=0, exp_name='wwstest', frame_height=192, frame_width=192, g_input_content='gaussian_dist_map', gamma=0.99, global_downscaling=2, global_lr=0.0005, hfov=90.0, load_global='hrl3.global', load_global_critic='0', log_interval=250, map_size_cm=4800, max_batch_size=0, max_collisions_allowed=-1, max_episode_length=3000, max_grad_norm=0.5, noise_level=0.1, noisy_actions=0, noisy_odometry=0, num_episodes=1, num_global_steps=120, num_gnn_layer=3, num_local_steps=25, num_mini_batch=1, num_processes=1, num_robots=3, object_randomization_freq=0.0, obs_threshold=1, obstacle_boundary=20, ppo_epoch=4, ppo_sample_eps=1, print_images=True, reset_floor=0, reset_orientation=1, restore_eps=0, reward_bias=4, reward_scale=0.005, robot_scale=1, rotation_augmentation=1, save_interval=10000, save_periodic=500000, scene_per_process=1, scenes_file='scenes/wws.scenes', seed=1, short_goal_dist=1, snp_location='./snp', tau=0.95, texture_randomization_freq=0.0, train_global=0, unit_size_cm=10, use_clipped_value_loss=1, use_distance_field=1, use_gae=1, use_history=1, use_single_gpu=0, value_loss_coef=3.0, vis_type=1, vision_range=32, z_offset=0.4)
INFO:root:SNP allocated 3.9 MB
Loading basic.yaml
INFO:root:Device index is larger than number of devices, falling back to use 0
--- Logging error ---
Traceback (most recent call last):
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 994, in emit
msg = self.format(record)
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 840, in format
return fmt.format(record)
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 577, in format
record.message = record.getMessage()
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 338, in getMessage
msg = msg % self.args
TypeError: not all arguments converted during string formatting
Call stack:
File "main.py", line 608, in <module>
main()
File "main.py", line 112, in main
envs = construct_envs(args, snp.dump())
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 314, in construct_envs
envs = SyncNavEnv(make_env_fns, args.device)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 26, in __init__
self._envs = [ctor() for ctor in env_constructors]
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 26, in <listcomp>
self._envs = [ctor() for ctor in env_constructors]
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 295, in make_env_fn
env = Exploration_Env(args, config_file, scene_id, device_idx, rank, snp_data)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/exploration_env.py", line 157, in __init__
super().__init__(config_file, scene_ids=scene_ids, device_idx=device_idx)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 522, in __init__
render_to_tensor=render_to_tensor)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 318, in __init__
need_rgb=need_rgb)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 212, in __init__
rendering_settings=rendering_settings
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/simulator.py", line 86, in __init__
self.load()
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 222, in load
rendering_settings=self.rendering_settings
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/mesh_renderer_cpu.py", line 93, in __init__
"at http://svl.stanford.edu/igibson/docs/issues.html")
Message: 'If you have trouble using EGL, please visit our trouble shooting guide'
Arguments: ('at http://svl.stanford.edu/igibson/docs/issues.html',)
--- Logging error ---
Traceback (most recent call last):
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 994, in emit
msg = self.format(record)
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 840, in format
return fmt.format(record)
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 577, in format
record.message = record.getMessage()
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 338, in getMessage
msg = msg % self.args
TypeError: not all arguments converted during string formatting
Call stack:
File "main.py", line 608, in <module>
main()
File "main.py", line 112, in main
envs = construct_envs(args, snp.dump())
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 314, in construct_envs
envs = SyncNavEnv(make_env_fns, args.device)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 26, in __init__
self._envs = [ctor() for ctor in env_constructors]
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 26, in <listcomp>
self._envs = [ctor() for ctor in env_constructors]
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 295, in make_env_fn
env = Exploration_Env(args, config_file, scene_id, device_idx, rank, snp_data)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/exploration_env.py", line 157, in __init__
super().__init__(config_file, scene_ids=scene_ids, device_idx=device_idx)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 522, in __init__
render_to_tensor=render_to_tensor)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 318, in __init__
need_rgb=need_rgb)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 212, in __init__
rendering_settings=rendering_settings
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/simulator.py", line 86, in __init__
self.load()
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 222, in load
rendering_settings=self.rendering_settings
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/mesh_renderer_cpu.py", line 93, in __init__
"at http://svl.stanford.edu/igibson/docs/issues.html")
Message: 'If you have trouble using EGL, please visit our trouble shooting guide'
Arguments: ('at http://svl.stanford.edu/igibson/docs/issues.html',)
ERROR::SHADER::VERTEX::COMPILATION_FAILED
0:1(10): error: GLSL 4.50 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::FRAGMENT::COMPILATION_FAILED
0:1(10): error: GLSL 4.50 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::PROGRAM::LINKING_FAILED
error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader
ERROR::SHADER::VERTEX::COMPILATION_FAILED
0:1(10): error: GLSL 4.10 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::FRAGMENT::COMPILATION_FAILED
0:1(10): error: GLSL 4.10 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::PROGRAM::LINKING_FAILED
error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader
ERROR::SHADER::VERTEX::COMPILATION_FAILED
0:1(10): error: GLSL 4.50 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::FRAGMENT::COMPILATION_FAILED
0:2(10): error: GLSL 4.50 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::PROGRAM::LINKING_FAILED
error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader
INFO:root:IndoorScene model: Adrian
INFO:root:StaticIndoorScene scene: Adrian
INFO:root:Loading traversable graph
INFO:root:Loading traversable graph
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Adrian/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
2023-04-17 16:56:47,805 Computing map for Adrian
Loading global hrl3.global
WARNING:matplotlib.font_manager:findfont: Font family ['Helvetica'] not found. Falling back to DejaVu Sans.
INFO:root:Time: 00d 00h 00m 01s, num timesteps 0, FPS 0,
Rewards:
Losses:
INFO:root:Time: 00d 00h 02m 34s, num timesteps 250, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 05m 05s, num timesteps 500, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 07m 32s, num timesteps 750, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 10m 02s, num timesteps 1000, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 12m 30s, num timesteps 1250, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 15m 05s, num timesteps 1500, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 17m 29s, num timesteps 1750, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 19m 54s, num timesteps 2000, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 22m 20s, num timesteps 2250, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 24m 50s, num timesteps 2500, FPS 1,
Rewards:
Losses:
INFO:root:Time: 00d 00h 27m 17s, num timesteps 2750, FPS 1,
Rewards:
Losses:
2023-04-17 17:27:00,564 Computing map for Adrian
INFO:root:
Final Exp Area:
1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000, 1.71000,
Final Exp Ratio:
0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235, 0.04235,
Final Close Lengths:
2999.00,
Final Bump Counts:
78.0,
Final Continuous Bump Counts:
11.0,
-
The message
INFO:root:Device index is larger than number of devices, falling back to use 0is uncommon. Please trypython -c "from gibson2.render.mesh_renderer.get_available_devices import get_available_devices; print(get_available_devices())"to see if there is something wrong with GPU. -
As for the GLSL version unsupported error, I think it may be caused by an old OS system. (I am not sure, you might try to google it.) However, just modifying shaders file may help (but I am also not sure). You can find such files:
./venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/shaders/410/skybox_fs.glsl./venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/shaders/410/skybox_vs.glsl./env/gibson_api/ma_env_base.py
and replace all the
#version 450and#version 410 corewith a lower one.
1、i got：
Type "help", "copyright", "credits" or "license" for more information.
>>> from gibson2.render.mesh_renderer.get_available_devices import get_available_devices
INFO:root:Importing iGibson (gibson2 module)
INFO:root:Assets path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/assets
INFO:root:Gibson Dataset path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/g_dataset
INFO:root:iG Dataset path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/ig_dataset
INFO:root:3D-FRONT Dataset path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/threedfront_dataset
INFO:root:CubiCasa5K Dataset path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/data/cubicasa_dataset
INFO:root:Example path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/examples
INFO:root:Example config path: /root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson2/examples/configs
>>> print(get_available_devices())
[]
but：
(/root/autodl-tmp/NeuralCoMapping/venv) root@autodl-container-755011a052-b98b3f7b:~/autodl-tmp/NeuralCoMapping# python
Python 3.6.13 |Anaconda, Inc.| (default, Jun 4 2021, 14:25:59)
[GCC 7.5.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import torch
>>> print(torch.__version__)
1.2.0
>>> torch.cuda.is_available()
True
>>> torch.cuda.device_count()
1
>>> quit()
2、
i changed 450 and 410 to 140 but still got:
Message: 'If you have trouble using EGL, please visit our trouble shooting guide '
Arguments: ('at http://svl.stanford.edu/igibson/docs/issues.html',)
--- Logging error ---
Traceback (most recent call last):
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py", line 994, in emit
msg = self.format(record)
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py" , line 840, in format
return fmt.format(record)
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py" , line 577, in format
record.message = record.getMessage()
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/logging/__init__.py" , line 338, in getMessage
msg = msg % self.args
TypeError: not all arguments converted during string formatting
Call stack:
File "main.py", line 608, in <module>
main()
File "main.py", line 112, in main
envs = construct_envs(args, snp.dump())
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 314, in construct_envs
envs = SyncNavEnv(make_env_fns, args.device)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 26, i n __init__
self._envs = [ctor() for ctor in env_constructors]
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 26, i n <listcomp>
self._envs = [ctor() for ctor in env_constructors]
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 295, in make_env_fn
env = Exploration_Env(args, config_file, scene_id, device_idx, rank, snp_dat a)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/exploration_env.py", lin e 157, in __init__
super().__init__(config_file, scene_ids=scene_ids, device_idx=device_idx)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 52 2, in __init__
render_to_tensor=render_to_tensor)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 31 8, in __init__
need_rgb=need_rgb)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 21 2, in __init__
rendering_settings=rendering_settings
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson 2/simulator.py", line 86, in __init__
self.load()
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 22 2, in load
rendering_settings=self.rendering_settings
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson 2/render/mesh_renderer/mesh_renderer_cpu.py", line 93, in __init__
"at http://svl.stanford.edu/igibson/docs/issues.html")
Message: 'If you have trouble using EGL, please visit our trouble shooting guide '
Arguments: ('at http://svl.stanford.edu/igibson/docs/issues.html',)
ERROR::SHADER::VERTEX::COMPILATION_FAILED
0:1(10): error: GLSL 4.50 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::FRAGMENT::COMPILATION_FAILED
0:1(10): error: GLSL 4.50 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::PROGRAM::LINKING_FAILED
error: linking with uncompiled/unspecialized shadererror: linking with uncompile d/unspecialized shader
ERROR::SHADER::VERTEX::COMPILATION_FAILED
0:1(10): error: illegal text following version number
ERROR::SHADER::FRAGMENT::COMPILATION_FAILED
0:1(10): error: illegal text following version number
ERROR::SHADER::PROGRAM::LINKING_FAILED
error: linking with uncompiled/unspecialized shadererror: linking with uncompile d/unspecialized shader
ERROR::SHADER::VERTEX::COMPILATION_FAILED
0:1(10): error: GLSL 4.50 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES
ERROR::SHADER::FRAGMENT::COMPILATION_FAILED
0:39(1): error: shader output explicit location requires GL_ARB_explicit_attrib_ location extension or GLSL 3.30
0:40(1): error: shader output explicit location requires GL_ARB_explicit_attrib_ location extension or GLSL 3.30
0:41(1): error: shader output explicit location requires GL_ARB_explicit_attrib_ location extension or GLSL 3.30
0:42(1): error: shader output explicit location requires GL_ARB_explicit_attrib_ location extension or GLSL 3.30
0:43(1): error: shader output explicit location requires GL_ARB
ERROR::SHADER::PROGRAM::LINKING_FAILED
error: linking with uncompiled/unspecialized shadererror: linking with uncompile d/unspecialized shader
INFO:root:IndoorScene model: Adrian
INFO:root:StaticIndoorScene scene: Adrian
^CTraceback (most recent call last):
File "main.py", line 608, in <module>
main()
File "main.py", line 112, in main
envs = construct_envs(args, snp.dump())
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 314, in construct_envs
envs = SyncNavEnv(make_env_fns, args.device)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 26, in __init__
self._envs = [ctor() for ctor in env_constructors]
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 26, i n <listcomp>
self._envs = [ctor() for ctor in env_constructors]
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/__init__.py", line 295, in make_env_fn
env = Exploration_Env(args, config_file, scene_id, device_idx, rank, snp_data)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/exploration_env.py", line 157, in __init__
super().__init__(config_file, scene_ids=scene_ids, device_idx=device_idx)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 52 2, in __init__
render_to_tensor=render_to_tensor)
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 31 9, in __init__
self.load()
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 66 5, in load
super(MAGibsonEnv, self).load()
File "/root/autodl-tmp/NeuralCoMapping/env/gibson_api/ma_env_base.py", line 389, in load
scene, load_texture=self.config.get('load_texture', True) and self.config['scene_id'] not in ['CVPR2022', 'Cross'])
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson 2/simulator.py", line 156, in wrapped_load_func
res = load_func(*args, **kwargs)
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson 2/simulator.py", line 183, in import_scene
new_object_pb_ids = scene.load()
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson 2/scenes/gibson_indoor_scene.py", line 124, in load
self.load_scene_mesh()
File "/root/autodl-tmp/NeuralCoMapping/venv/lib/python3.6/site-packages/gibson 2/scenes/gibson_indoor_scene.py", line 98, in load_scene_mesh
texture_id = p.loadTexture(texture_filename)
i ve gooled ,but got nothing,Perhaps the OpenGL version has been restricted by the server supplier. (I am renting a GPU)
so sad
maybe i will try another Graphics card. thanks again
btw i update my os version from 18.04 to 20.04，the opengl version is 4.5 which support the code
thanks again for your answer ,means alot for me
oh, sounds great :)