snasiriany
commented
3 months ago Hi @luccachiang can you please print the full stack trace, and let me know all the steps to reproduce the issue?
Closed luccachiang closed 3 months ago
snasiriany
commented
3 months ago Hi @luccachiang can you please print the full stack trace, and let me know all the steps to reproduce the issue?
luccachiang
commented
3 months ago Thanks for your prompt response. @snasiriany I believe the following steps are the minimum to reproduce the error.
Install following https://github.com/robocasa/robocasa#installation. Note that insterestingly after installing robosuite (step 3), I do not have the make attribute error. However, after installing robocasa (step 4), I cannot import 'make'.
Install following https://github.com/ARISE-Initiative/robomimic/tree/robocasa#installation
Use CLI python in this conda env to test robosuite
from robosuite import makeBased on the steps above, I can temporarily solve this problem by re-executing robosuite installation with pip install -e .. Sometimes, it still has the problem with CLI Python. Moreover, when I try to run training scripts with --debug, this error is still there during policy rollout in the env.
I am using this command python /home/lucas/robocasa/robomimic/robomimic/scripts/train.py --config /home/lucas/robocasa/robomimic/autogen_configs/bc/bc/robocasa/im/06-12-test/06-12-24-11-21-08/json/seed_123_ds_OpenSingleDoor.json --debug
Getting this error stack.
Epoch 0 Memory Usage: 2688 MB
0%| | 0/3 [00:00<?, ?it/s]ObservationKeyToModalityDict: pad_mask not found, adding pad_mask to mapping with assumed low_dim modality!
ObservationKeyToModalityDict: lang_emb not found, adding lang_emb to mapping with assumed low_dim modality!
100%|##########| 3/3 [00:01<00:00, 2.19it/s]
Train Epoch 1
{
"Cosine_Loss": 0.9224040110905966,
"L1_Loss": 0.10094895462195079,
"L2_Loss": 0.20192878941694895,
"Loss": 0.20192878941694895,
"Optimizer/policy0_lr": 0.0001,
"Policy_Grad_Norms": 0.17695442954617077,
"Time_Data_Loading": 0.005813217163085938,
"Time_Epoch": 0.025638210773468017,
"Time_Log_Info": 5.130767822265625e-05,
"Time_Process_Batch": 9.459654490152994e-05,
"Time_Train_Batch": 0.01688726743062337
}
/home/lucas/robocasa/robosuite/robosuite/macros.py:53: DeprecationWarning: The 'warn' method is deprecated, use 'warning' instead
ROBOSUITE_DEFAULT_LOGGER.warn("No private macro file found!")
[robosuite WARNING] No private macro file found! (macros.py:53)
[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
[robosuite WARNING] To setup, run: python /home/lucas/robocasa/robosuite/scripts/setup_macros.py (macros.py:55)
WARNING: mimicgen environments not imported since mimicgen is not installed!
run failed with error:
module 'robosuite' has no attribute 'make'
Traceback (most recent call last):
File "/home/lucas/robocasa/robomimic/robomimic/scripts/train.py", line 473, in main
train(config, device=device)
File "/home/lucas/robocasa/robomimic/robomimic/scripts/train.py", line 325, in train
all_rollout_logs, video_paths = TrainUtils.rollout_with_stats(
File "/home/lucas/robocasa/robomimic/robomimic/utils/train_utils.py", line 527, in rollout_with_stats
for env, horizon in zip(envs, horizon_list):
File "/home/lucas/robocasa/robomimic/robomimic/scripts/train.py", line 145, in env_iterator
env = create_env_helper()
File "/home/lucas/robocasa/robomimic/robomimic/scripts/train.py", line 133, in create_env_helper
env = EnvUtils.create_env_from_metadata(**env_kwargs)
File "/home/lucas/robocasa/robomimic/robomimic/utils/env_utils.py", line 228, in create_env_from_metadata
env = create_env(
File "/home/lucas/robocasa/robomimic/robomimic/utils/env_utils.py", line 172, in create_env
env = env_class(
File "/home/lucas/robocasa/robomimic/robomimic/envs/env_robosuite.py", line 96, in __init__
self.env = robosuite.make(self._env_name, **kwargs)
AttributeError: module 'robosuite' has no attribute 'make'Below is the config I generated.
{
"algo_name": "bc",
"experiment": {
"name": "seed_123_ds_OpenSingleDoor",
"validate": false,
"logging": {
"terminal_output_to_txt": true,
"log_tb": true,
"log_wandb": false,
"wandb_proj_name": "bc_06-12-test_robocasa_im"
},
"mse": {},
"save": {
"enabled": true,
"every_n_seconds": null,
"every_n_epochs": 100,
"epochs": [],
"on_best_validation": false,
"on_best_rollout_return": false,
"on_best_rollout_success_rate": false
},
"epoch_every_n_steps": 500,
"validation_epoch_every_n_steps": 10,
"env": null,
"additional_envs": null,
"render": false,
"render_video": true,
"keep_all_videos": false,
"video_skip": 5,
"rollout": {
"enabled": true,
"n": 50,
"horizon": 500,
"rate": 100,
"warmstart": 0,
"terminate_on_success": true
},
"env_meta_update_dict": {
"env_kwargs": {
"generative_textures": null,
"scene_split": null,
"style_ids": null,
"layout_ids": null,
"layout_and_style_ids": [
[
1,
1
],
[
2,
2
],
[
4,
4
],
[
6,
9
],
[
7,
10
]
],
"randomize_cameras": false,
"obj_instance_split": "B"
}
}
},
"train": {
"data": [
{
"horizon": 500,
"do_eval": true,
"filter_key": "50_demos",
"path": "/home/lucas/robocasa/datasets/v0.1/single_stage/kitchen_doors/OpenSingleDoor/2024-04-24/demo_gentex_im128_randcams.hdf5"
}
],
"output_dir": "../expdata/robocasa/im/bc/06-12-test",
"num_data_workers": 5,
"hdf5_cache_mode": null,
"hdf5_use_swmr": true,
"hdf5_load_next_obs": false,
"hdf5_normalize_obs": false,
"hdf5_filter_key": null,
"hdf5_validation_filter_key": null,
"seq_length": 1,
"pad_seq_length": true,
"frame_stack": 1,
"pad_frame_stack": true,
"dataset_keys": [
"actions",
"rewards",
"dones"
],
"goal_mode": null,
"cuda": true,
"batch_size": 16,
"num_epochs": 1000,
"seed": 123,
"action_config": {
"actions": {
"normalization": null
},
"action_dict/abs_pos": {
"normalization": "min_max"
},
"action_dict/abs_rot_axis_angle": {
"normalization": "min_max",
"format": "rot_axis_angle"
},
"action_dict/abs_rot_6d": {
"normalization": null,
"format": "rot_6d"
},
"action_dict/rel_pos": {
"normalization": null
},
"action_dict/rel_rot_axis_angle": {
"normalization": null,
"format": "rot_axis_angle"
},
"action_dict/rel_rot_6d": {
"normalization": null,
"format": "rot_6d"
},
"action_dict/gripper": {
"normalization": null
},
"action_dict/base_mode": {
"normalization": null
}
}
},
"algo": {
"optim_params": {
"policy": {
"optimizer_type": "adam",
"learning_rate": {
"initial": 0.0001,
"decay_factor": 0.1,
"epoch_schedule": [],
"scheduler_type": "multistep"
},
"regularization": {
"L2": 0.0
}
}
},
"loss": {
"l2_weight": 1.0,
"l1_weight": 0.0,
"cos_weight": 0.0
},
"actor_layer_dims": [
1024,
1024
],
"gaussian": {
"enabled": false,
"fixed_std": false,
"init_std": 0.1,
"min_std": 0.01,
"std_activation": "softplus",
"low_noise_eval": true
},
"gmm": {
"enabled": false,
"num_modes": 5,
"min_std": 0.0001,
"std_activation": "softplus",
"low_noise_eval": true
},
"vae": {
"enabled": false,
"latent_dim": 14,
"latent_clip": null,
"kl_weight": 1.0,
"decoder": {
"is_conditioned": true,
"reconstruction_sum_across_elements": false
},
"prior": {
"learn": false,
"is_conditioned": false,
"use_gmm": false,
"gmm_num_modes": 10,
"gmm_learn_weights": false,
"use_categorical": false,
"categorical_dim": 10,
"categorical_gumbel_softmax_hard": false,
"categorical_init_temp": 1.0,
"categorical_temp_anneal_step": 0.001,
"categorical_min_temp": 0.3
},
"encoder_layer_dims": [
300,
400
],
"decoder_layer_dims": [
300,
400
],
"prior_layer_dims": [
300,
400
]
},
"rnn": {
"enabled": false,
"horizon": 10,
"hidden_dim": 400,
"rnn_type": "LSTM",
"num_layers": 2,
"open_loop": false,
"kwargs": {
"bidirectional": false
}
},
"transformer": {
"enabled": false,
"context_length": 10,
"embed_dim": 512,
"num_layers": 6,
"num_heads": 8,
"emb_dropout": 0.1,
"attn_dropout": 0.1,
"block_output_dropout": 0.1,
"sinusoidal_embedding": false,
"activation": "gelu",
"supervise_all_steps": false,
"nn_parameter_for_timesteps": true
}
},
"observation": {
"modalities": {
"obs": {
"low_dim": [
"robot0_base_to_eef_pos",
"robot0_base_to_eef_quat",
"robot0_base_pos",
"robot0_base_quat",
"robot0_gripper_qpos"
],
"rgb": [
"robot0_agentview_left_image",
"robot0_agentview_right_image",
"robot0_eye_in_hand_image"
],
"depth": [],
"scan": []
},
"goal": {
"low_dim": [],
"rgb": [],
"depth": [],
"scan": []
}
},
"encoder": {
"low_dim": {
"core_class": null,
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
},
"rgb": {
"core_class": "VisualCoreLanguageConditioned",
"core_kwargs": {
"backbone_class": "ResNet18ConvFiLM"
},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {
"crop_height": 116,
"crop_width": 116,
"num_crops": 1,
"pos_enc": false
}
},
"depth": {
"core_class": "VisualCore",
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
},
"scan": {
"core_class": "ScanCore",
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
}
}
},
"meta": {
"hp_base_config_file": "/home/lucas/robocasa/robomimic/robomimic/exps/templates/bc.json",
"hp_keys": [
"seed",
"ds",
"obsrandargs"
],
"hp_values": [
123,
"OpenSingleDoor",
{
"crop_height": 116,
"crop_width": 116,
"num_crops": 1,
"pos_enc": false
}
]
}
}Sorry, I've finally found the solution. I encountered this problem because I git clone robosuite in the folder of robocasa. As a result, the folder name robosuite has conflicts with the package name. After renaming the folder name, I solved this problem :)
Hi, I'm using the
robocasabranch, but got the AttributeError in this line: https://github.com/ARISE-Initiative/robomimic/blob/2e32a25f9aea6ba486de39e1d8d353244fe8a039/robomimic/envs/env_robosuite.py#L94Is there something wrong with this branch?