I am trying to visualize robot's behavior on Wipe. I use the results provided by the repo, and the command is:
python scripts/rollout.py --load_dir ./runs/Wipe-Sawyer-OSC-POSE-SEED83/Wipe_Sawyer_OSC_POSE_SEED83_2020_09_21_23_14_15_0000--s-0/ --horizon 200 --camera frontview
It reports the following error:
Policy loaded
Simulating policy...
Rollout episode 0
Creating window glfw
Traceback (most recent call last):
File "scripts/rollout.py", line 107, in
use_gpu=args.gpu,
File "/home/lthpc/Desktop/Research/meta-role/robosuite-benchmark/util/rlkit_utils.py", line 264, in simulate_policy
video_writer=video_writer,
File "/home/lthpc/Desktop/Research/meta-role/robosuite-benchmark/util/rlkit_custom.py", line 425, in rollout
a, agent_info = agent.get_action(o)
File "/home/lthpc/Desktop/Research/meta-role/robosuite-benchmark/rlkit/rlkit/torch/sac/policies.py", line 134, in get_action
deterministic=True)
File "/home/lthpc/Desktop/Research/meta-role/robosuite-benchmark/rlkit/rlkit/torch/sac/policies.py", line 63, in get_action
actions = self.get_actions(obs_np[None], deterministic=deterministic)
File "/home/lthpc/Desktop/Research/meta-role/robosuite-benchmark/rlkit/rlkit/torch/sac/policies.py", line 67, in get_actions
return eval_np(self, obs_np, deterministic=deterministic)[0]
File "/home/lthpc/Desktop/Research/meta-role/robosuite-benchmark/rlkit/rlkit/torch/core.py", line 18, in eval_np
outputs = module(*torch_args, torch_kwargs)
File "/home/lthpc/anaconda3/envs/modular/lib/python3.6/site-packages/torch/nn/modules/module.py", line 493, in call
result = self.forward(*input, *kwargs)
File "/home/lthpc/Desktop/Research/meta-role/robosuite-benchmark/rlkit/rlkit/torch/sac/policies.py", line 83, in forward
h = self.hidden_activation(fc(h))
File "/home/lthpc/anaconda3/envs/modular/lib/python3.6/site-packages/torch/nn/modules/module.py", line 493, in call
result = self.forward(input, kwargs)
File "/home/lthpc/anaconda3/envs/modular/lib/python3.6/site-packages/torch/nn/modules/linear.py", line 92, in forward
return F.linear(input, self.weight, self.bias)
File "/home/lthpc/anaconda3/envs/modular/lib/python3.6/site-packages/torch/nn/functional.py", line 1406, in linear
ret = torch.addmm(bias, input, weight.t())
RuntimeError: size mismatch, m1: [1 x 37], m2: [379 x 256] at /pytorch/aten/src/THC/generic/THCTensorMathBlas.cu:268
The same error occurs for other robot arms and controller modes in Wipe. However, there seems to be no error running other environments like Door and Lift. Any idea for this? Thank you!
I am trying to visualize robot's behavior on Wipe. I use the results provided by the repo, and the command is:
python scripts/rollout.py --load_dir ./runs/Wipe-Sawyer-OSC-POSE-SEED83/Wipe_Sawyer_OSC_POSE_SEED83_2020_09_21_23_14_15_0000--s-0/ --horizon 200 --camera frontviewIt reports the following error:
The same error occurs for other robot arms and controller modes in Wipe. However, there seems to be no error running other environments like Door and Lift. Any idea for this? Thank you!