Question about obeservation

[CAI23sbP]

HI @Shuijing725 !. I have a single question about observation. I saw your code in crowd_sim_dict.py. In this script, generate_ob func was exist. ` def generate_ob(self, reset): ob = {}

    # nodes
    visible_humans, num_visibles, human_visibility = self.get_num_human_in_fov()

    ob['robot_node'] = self.robot.get_full_state_list_noV()

    self.update_last_human_states(human_visibility, reset=reset)

    # edges
    # temporal edge: robot's velocity
    ob['temporal_edges'] = np.array([self.robot.vx, self.robot.vy])
    # spatial edges: the vector pointing from the robot position to each human's position
    ob['spatial_edges'] = np.zeros((self.human_num, 2))
    for i in range(self.human_num):
        relative_pos = np.array([self.last_human_states[i, 0] - self.robot.px, self.last_human_states[i, 1] - self.robot.py])
        ob['spatial_edges'][i] = relative_pos

    return ob`

So, i made observation above code. ` ob={} ob['robot_node'] = np.array([self.cur_pos_x,self.cur_pos_y, self.robot_radius, self.goal_x,self.goal_y, self.robot_max_vel, self.robot_yaw])

        ob['temporal_edges'] = np.array([self.vel_x,self.vel_y]) ## robot vel x,y
        ob['spatial_edges'] = np.zeros((self.human_num, 2))
        for i in range(self.human_num):
            relative_pos = [self.human_state.mean_points[i].x, self.human_state.mean_points[i].y] ## already relative
            ob['spatial_edges'][i] = relative_pos
        `

And i referred that test.py and evaluate.py ` self.observation_space= ob high = 1.2 * np.ones([2, ]) self.action_space = gym.spaces.Box(-high, high, dtype=np.float32) net = self.Model(self.observation_space, self.action_space) net.load_state_dict(torch.load(self.weight_path,map_location=torch.device('cpu')))

        eval_recurrent_hidden_states = {}
        node_num = 1
        edge_num = net.base.human_num + 1
        eval_recurrent_hidden_states['human_node_rnn'] = torch.zeros(1, node_num, self.config.SRNN.human_node_rnn_size * 1,
                                                            device="cpu")
        eval_recurrent_hidden_states['human_human_edge_rnn'] = torch.zeros(1, edge_num,
                                                                   self.config.SRNN.human_human_edge_rnn_size*1,
                                                            device="cpu")
        eval_masks = torch.zeros(1, 1, device='cpu')
        _, action, _, eval_recurrent_hidden_states = net.act(
                ob,
                eval_recurrent_hidden_states,
                eval_masks,
                deterministic=True)

` after launched my code error occurred, like under script.

logger.warn( Exception in thread Thread-10: Traceback (most recent call last): File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner self.run() File "/opt/ros/noetic/lib/python3/dist-packages/rospy/timer.py", line 237, in run self._callback(TimerEvent(last_expected, last_real, current_expected, current_real, last_duration)) File "drl_agent_node.py", line 147, in cbComputeActionArena _, action, _, eval_recurrent_hidden_states = net.act( File "/home/cai/sim_ws/src/navigation_sim/drl_nav_tool/drl_nav/train/Architectures/ppo_model.py", line 64, in act value, actor_features, rnn_hxs = self.base(inputs, rnn_hxs, masks, infer=True) File "/home/cai/.local/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1194, in _call_impl return forward_call(*input, **kwargs) File "/home/cai/sim_ws/src/navigation_sim/drl_nav_tool/drl_nav/train/Architectures/a2c_ppo_acktr/srnn_model.py", line 389, in forward robot_node = reshapeT(inputs['robot_node'], seq_length, nenv) File "/home/cai/sim_ws/src/navigation_sim/drl_nav_tool/drl_nav/train/Architectures/a2c_ppo_acktr/srnn_model.py", line 457, in reshapeT shape = T.size()[1:] AttributeError: 'list' object has no attribute 'size

I don't know how to solve this issue,, What is problem in this part? . i think nothing was wrong to me... Could you give me a small hint ?