allenai / embodied-clip

Official codebase for EmbCLIP
https://arxiv.org/abs/2111.09888
Apache License 2.0
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Habitat Pointnav Error: #17

Closed Amadeus0079 closed 6 months ago

Amadeus0079 commented 6 months ago

Hello! When I run the Evaluation code in the readme, I get the report as the following:

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+"
/home/amadeus/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:526: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint8 = np.dtype([("qint8", np.int8, 1)])
`/home/amadeus/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:527:` FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_quint8 = np.dtype([("quint8", np.uint8, 1)])
`/home/amadeus/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:528:` FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint16 = np.dtype([("qint16", np.int16, 1)])
/home/amadeus/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:529: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_quint16 = np.dtype([("quint16", np.uint16, 1)])
/home/amadeus/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:530: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint32 = np.dtype([("qint32", np.int32, 1)])
/home/amadeus/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:535: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  np_resource = np.dtype([("resource", np.ubyte, 1)])
2024-05-05 23:15:01,528 env config: BASE_TASK_CONFIG_PATH: configs/tasks/pointnav_gibson_v2.yaml
CHECKPOINT_FOLDER: data/checkpoints
CHECKPOINT_INTERVAL: -1
CMD_TRAILING_OPTS: ['TASK_CONFIG.ENVIRONMENT.ITERATOR_OPTIONS.MAX_SCENE_REPEAT_STEPS', '50000', 'TASK_CONFIG.ENVIRONMENT.ITERATOR_OPTIONS.SHUFFLE', 'False', 'TASK_CONFIG.SEED', '1']
ENV_NAME: NavRLEnv
EVAL:
  DEVICE: cuda
  NUM_ENVIRONMENTS: 3
  SPLIT: val_mini
  USE_CKPT_CONFIG: False
EVAL_CKPT_PATH_DIR: pretrained_models/pointnav-rgb-clip.250M.pth
FORCE_BLIND_POLICY: False
FORCE_TORCH_SINGLE_THREADED: True
LOG_FILE: logs/pointnav-rgb-clip/eval.log
LOG_INTERVAL: 10
NUM_CHECKPOINTS: 10
NUM_ENVIRONMENTS: 3
NUM_PROCESSES: -1
NUM_UPDATES: 10000
ORBSLAM2:
  ANGLE_TH: 0.2617993877991494
  BETA: 100
  CAMERA_HEIGHT: 1.25
  DEPTH_DENORM: 10.0
  DIST_REACHED_TH: 0.15
  DIST_TO_STOP: 0.05
  D_OBSTACLE_MAX: 4.0
  D_OBSTACLE_MIN: 0.1
  H_OBSTACLE_MAX: 1.25
  H_OBSTACLE_MIN: 0.375
  MAP_CELL_SIZE: 0.1
  MAP_SIZE: 40
  MIN_PTS_IN_OBSTACLE: 320.0
  NEXT_WAYPOINT_TH: 0.5
  NUM_ACTIONS: 3
  PLANNER_MAX_STEPS: 500
  PREPROCESS_MAP: True
  SLAM_SETTINGS_PATH: habitat_baselines/slambased/data/mp3d3_small1k.yaml
  SLAM_VOCAB_PATH: habitat_baselines/slambased/data/ORBvoc.txt
PROFILING:
  CAPTURE_START_STEP: -1
  NUM_STEPS_TO_CAPTURE: -1
RL:
  DDPPO:
    backbone: resnet50_clip_avgpool
    distrib_backend: NCCL
    force_distributed: False
    num_recurrent_layers: 2
    pretrained: False
    pretrained_encoder: False
    pretrained_weights: data/ddppo-models/gibson-2plus-resnet50.pth
    reset_critic: True
    rnn_type: LSTM
    sync_frac: 0.6
    train_encoder: False
  POLICY:
    OBS_TRANSFORMS:
      CENTER_CROPPER:
        HEIGHT: 256
        WIDTH: 256
      CUBE2EQ:
        HEIGHT: 256
        SENSOR_UUIDS: []
        WIDTH: 512
      CUBE2FISH:
        FOV: 180
        HEIGHT: 256
        PARAMS: (0.2, 0.2, 0.2)
        SENSOR_UUIDS: []
        WIDTH: 256
      ENABLED_TRANSFORMS: ()
      EQ2CUBE:
        HEIGHT: 256
        SENSOR_UUIDS: []
        WIDTH: 256
      RESIZE_SHORTEST_EDGE:
        SIZE: 256
    name: PointNavResNetPolicy
  PPO:
    clip_param: 0.2
    entropy_coef: 0.01
    eps: 1e-05
    gamma: 0.99
    hidden_size: 512
    lr: 0.00025
    max_grad_norm: 0.2
    num_mini_batch: 2
    num_steps: 128
    ppo_epoch: 2
    reward_window_size: 50
    tau: 0.95
    use_double_buffered_sampler: False
    use_gae: True
    use_linear_clip_decay: False
    use_linear_lr_decay: False
    use_normalized_advantage: False
    value_loss_coef: 0.5
  REWARD_MEASURE: distance_to_goal
  SLACK_REWARD: -0.01
  SUCCESS_MEASURE: spl
  SUCCESS_REWARD: 2.5
SENSORS: ['RGB_SENSOR']
SIMULATOR_GPU_ID: 0
TASK_CONFIG:
  DATASET:
    CONTENT_SCENES: ['*']
    DATA_PATH: data/datasets/pointnav/gibson/v2/{split}/{split}.json.gz
    SCENES_DIR: data/scene_datasets
    SPLIT: val_mini
    TYPE: PointNav-v1
  ENVIRONMENT:
    ITERATOR_OPTIONS:
      CYCLE: True
      GROUP_BY_SCENE: True
      MAX_SCENE_REPEAT_EPISODES: -1
      MAX_SCENE_REPEAT_STEPS: 10000
      NUM_EPISODE_SAMPLE: -1
      SHUFFLE: True
      STEP_REPETITION_RANGE: 0.2
    MAX_EPISODE_SECONDS: 10000000
    MAX_EPISODE_STEPS: 500
  PYROBOT:
    BASE_CONTROLLER: proportional
    BASE_PLANNER: none
    BUMP_SENSOR:
      TYPE: PyRobotBumpSensor
    DEPTH_SENSOR:
      CENTER_CROP: False
      HEIGHT: 480
      MAX_DEPTH: 5.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      TYPE: PyRobotDepthSensor
      WIDTH: 640
    LOCOBOT:
      ACTIONS: ['BASE_ACTIONS', 'CAMERA_ACTIONS']
      BASE_ACTIONS: ['go_to_relative', 'go_to_absolute']
      CAMERA_ACTIONS: ['set_pan', 'set_tilt', 'set_pan_tilt']
    RGB_SENSOR:
      CENTER_CROP: False
      HEIGHT: 480
      TYPE: PyRobotRGBSensor
      WIDTH: 640
    ROBOT: locobot
    ROBOTS: ['locobot']
    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'BUMP_SENSOR']
  SEED: 100
  SIMULATOR:
    ACTION_SPACE_CONFIG: v0
    AGENTS: ['AGENT_0']
    AGENT_0:
      ANGULAR_ACCELERATION: 12.56
      ANGULAR_FRICTION: 1.0
      COEFFICIENT_OF_RESTITUTION: 0.0
      HEIGHT: 0.88
      IS_SET_START_STATE: False
      LINEAR_ACCELERATION: 20.0
      LINEAR_FRICTION: 0.5
      MASS: 32.0
      RADIUS: 0.18
      SENSORS: ['RGB_SENSOR']
      START_POSITION: [0, 0, 0]
      START_ROTATION: [0, 0, 0, 1]
    DEFAULT_AGENT_ID: 0
    DEPTH_SENSOR:
      HEIGHT: 256
      HFOV: 90
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimDepthSensor
      WIDTH: 256
    FORWARD_STEP_SIZE: 0.25
    HABITAT_SIM_V0:
      ALLOW_SLIDING: True
      ENABLE_PHYSICS: False
      GPU_DEVICE_ID: 0
      GPU_GPU: False
      PHYSICS_CONFIG_FILE: ./data/default.physics_config.json
    RGB_SENSOR:
      HEIGHT: 256
      HFOV: 90
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimRGBSensor
      WIDTH: 256
    SCENE: data/scene_datasets/habitat-test-scenes/van-gogh-room.glb
    SEED: 100
    SEMANTIC_SENSOR:
      HEIGHT: 480
      HFOV: 90
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimSemanticSensor
      WIDTH: 640
    TILT_ANGLE: 15
    TURN_ANGLE: 10
    TYPE: Sim-v0
  TASK:
    ACTIONS:
      ANSWER:
        TYPE: AnswerAction
      LOOK_DOWN:
        TYPE: LookDownAction
      LOOK_UP:
        TYPE: LookUpAction
      MOVE_FORWARD:
        TYPE: MoveForwardAction
      STOP:
        TYPE: StopAction
      TELEPORT:
        TYPE: TeleportAction
      TURN_LEFT:
        TYPE: TurnLeftAction
      TURN_RIGHT:
        TYPE: TurnRightAction
    ANSWER_ACCURACY:
      TYPE: AnswerAccuracy
    COLLISIONS:
      TYPE: Collisions
    COMPASS_SENSOR:
      TYPE: CompassSensor
    CORRECT_ANSWER:
      TYPE: CorrectAnswer
    DISTANCE_TO_GOAL:
      DISTANCE_TO: POINT
      TYPE: DistanceToGoal
    EPISODE_INFO:
      TYPE: EpisodeInfo
    GOAL_SENSOR_UUID: pointgoal_with_gps_compass
    GPS_SENSOR:
      DIMENSIONALITY: 2
      TYPE: GPSSensor
    HEADING_SENSOR:
      TYPE: HeadingSensor
    IMAGEGOAL_SENSOR:
      TYPE: ImageGoalSensor
    INSTRUCTION_SENSOR:
      TYPE: InstructionSensor
    INSTRUCTION_SENSOR_UUID: instruction
    MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SUCCESS', 'SPL', 'TOP_DOWN_MAP', 'COLLISIONS']
    OBJECTGOAL_SENSOR:
      GOAL_SPEC: TASK_CATEGORY_ID
      GOAL_SPEC_MAX_VAL: 50
      TYPE: ObjectGoalSensor
    POINTGOAL_SENSOR:
      DIMENSIONALITY: 2
      GOAL_FORMAT: POLAR
      TYPE: PointGoalSensor
    POINTGOAL_WITH_GPS_COMPASS_SENSOR:
      DIMENSIONALITY: 2
      GOAL_FORMAT: POLAR
      TYPE: PointGoalWithGPSCompassSensor
    POSSIBLE_ACTIONS: ['STOP', 'MOVE_FORWARD', 'TURN_LEFT', 'TURN_RIGHT']
    PROXIMITY_SENSOR:
      MAX_DETECTION_RADIUS: 2.0
      TYPE: ProximitySensor
    QUESTION_SENSOR:
      TYPE: QuestionSensor
    SENSORS: ['POINTGOAL_WITH_GPS_COMPASS_SENSOR']
    SOFT_SPL:
      TYPE: SoftSPL
    SPL:
      TYPE: SPL
    SUCCESS:
      SUCCESS_DISTANCE: 0.2
      TYPE: Success
    SUCCESS_DISTANCE: 0.2
    TOP_DOWN_MAP:
      DRAW_BORDER: True
      DRAW_GOAL_AABBS: True
      DRAW_GOAL_POSITIONS: True
      DRAW_SHORTEST_PATH: True
      DRAW_SOURCE: True
      DRAW_VIEW_POINTS: True
      FOG_OF_WAR:
        DRAW: True
        FOV: 90
        VISIBILITY_DIST: 5.0
      MAP_PADDING: 3
      MAP_RESOLUTION: 1024
      MAX_EPISODE_STEPS: 1000
      TYPE: TopDownMap
    TYPE: Nav-v0
TENSORBOARD_DIR: logs/pointnav-rgb-clip/tb
TEST_EPISODE_COUNT: -1
TORCH_GPU_ID: 0
TOTAL_NUM_STEPS: -1.0
TRAINER_NAME: ddppo
VERBOSE: True
VIDEO_DIR: video_dir
VIDEO_OPTION: ['tensorboard']
2024-05-05 23:15:01,529 Initializing dataset PointNav-v1
/home/amadeus/anaconda3/envs/habitat/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+"
/home/amadeus/anaconda3/envs/habitat/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+"
/home/amadeus/anaconda3/envs/habitat/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+"
2024-05-05 23:15:02,656 Initializing dataset PointNav-v1
2024-05-05 23:15:02,657 initializing sim Sim-v0
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0505 23:15:02.660358 43238 ManagedContainerBase.cpp:19] ManagedContainerBase::convertFilenameToJSON : Filename : default changed to proposed JSON configuration filename : default.scene_dataset_config.json
I0505 23:15:02.660382 43238 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Dataset) : Proposing JSON name : default.scene_dataset_config.json from original name : default | This file  does not exist.
I0505 23:15:02.660437 43238 AssetAttributesManager.cpp:117] Asset attributes (capsule3DSolid : capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
I0505 23:15:02.660480 43238 AssetAttributesManager.cpp:117] Asset attributes (capsule3DWireframe : capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
I0505 23:15:02.660499 43238 AssetAttributesManager.cpp:117] Asset attributes (coneSolid : coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
I0505 23:15:02.660511 43238 AssetAttributesManager.cpp:117] Asset attributes (coneWireframe : coneWireframe_segments_32_halfLen_1.25) created and registered.
I0505 23:15:02.660516 43238 AssetAttributesManager.cpp:117] Asset attributes (cubeSolid : cubeSolid) created and registered.
I0505 23:15:02.660521 43238 AssetAttributesManager.cpp:117] Asset attributes (cubeWireframe : cubeWireframe) created and registered.
I0505 23:15:02.660542 43238 AssetAttributesManager.cpp:117] Asset attributes (cylinderSolid : cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
I0505 23:15:02.660557 43238 AssetAttributesManager.cpp:117] Asset attributes (cylinderWireframe : cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
I0505 23:15:02.660564 43238 AssetAttributesManager.cpp:117] Asset attributes (icosphereSolid : icosphereSolid_subdivs_1) created and registered.
I0505 23:15:02.660573 43238 AssetAttributesManager.cpp:117] Asset attributes (icosphereWireframe : icosphereWireframe_subdivs_1) created and registered.
I0505 23:15:02.660586 43238 AssetAttributesManager.cpp:117] Asset attributes (uvSphereSolid : uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
I0505 23:15:02.660598 43238 AssetAttributesManager.cpp:117] Asset attributes (uvSphereWireframe : uvSphereWireframe_rings_16_segments_32) created and registered.
I0505 23:15:02.660602 43238 AssetAttributesManager.cpp:105] AssetAttributesManager::buildCtorFuncPtrMaps : Built default primitive asset templates : 12
I0505 23:15:02.660986 43238 SceneDatasetAttributesManager.cpp:23] File (default) not found, so new default dataset attributes created and registered.
I0505 23:15:02.660988 43238 MetadataMediator.cpp:47] MetadataMediator::createDataset : Dataset default successfully created.
I0505 23:15:02.663450 43238 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Physics Manager) : Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json | This file  does not exist.
I0505 23:15:02.663466 43238 PhysicsAttributesManager.cpp:27] File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
I0505 23:15:02.663470 43238 AbstractObjectAttributesManagerBase.h:175] AbstractObjectAttributesManager<T>::createObject  (Stage) : Making attributes with handle : data/scene_datasets/gibson/Mosquito.glb
I0505 23:15:02.663473 43238 ManagedContainerBase.cpp:19] ManagedContainerBase::convertFilenameToJSON : Filename : data/scene_datasets/gibson/Mosquito.glb changed to proposed JSON configuration filename : data/scene_datasets/gibson/Mosquito.stage_config.json
I0505 23:15:02.663476 43238 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Stage) : Proposing JSON name : data/scene_datasets/gibson/Mosquito.stage_config.json from original name : data/scene_datasets/gibson/Mosquito.glb | This file  does not exist.
I0505 23:15:02.663516 43238 AbstractObjectAttributesManagerBase.h:181] AbstractObjectAttributesManager<T>::createObject  (Stage) : Done making attributes with handle : data/scene_datasets/gibson/Mosquito.glb
I0505 23:15:02.663520 43238 AbstractObjectAttributesManagerBase.h:188] File (data/scene_datasets/gibson/Mosquito.glb) exists but is not a recognized config filename extension, so new default Stage attributes created and registered.
I0505 23:15:02.663525 43238 Simulator.cpp:156] Loading navmesh from data/scene_datasets/gibson/Mosquito.navmesh
I0505 23:15:02.663620 43238 Simulator.cpp:158] Loaded.
I0505 23:15:02.663632 43238 SceneGraph.h:93] Created DrawableGroup: 
2024-05-05 23:15:02,690 Initializing dataset PointNav-v1
2024-05-05 23:15:02,692 Initializing dataset PointNav-v1
2024-05-05 23:15:02,692 initializing sim Sim-v0
2024-05-05 23:15:02,693 initializing sim Sim-v0
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0505 23:15:02.695204 43237 ManagedContainerBase.cpp:19] ManagedContainerBase::convertFilenameToJSON : Filename : default changed to proposed JSON configuration filename : default.scene_dataset_config.json
I0505 23:15:02.695223 43237 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Dataset) : Proposing JSON name : default.scene_dataset_config.json from original name : default | This file  does not exist.
I0505 23:15:02.695276 43237 AssetAttributesManager.cpp:117] Asset attributes (capsule3DSolid : capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
I0505 23:15:02.695299 43237 AssetAttributesManager.cpp:117] Asset attributes (capsule3DWireframe : capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
I0505 23:15:02.695339 43237 AssetAttributesManager.cpp:117] Asset attributes (coneSolid : coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
I0505 23:15:02.695353 43237 AssetAttributesManager.cpp:117] Asset attributes (coneWireframe : coneWireframe_segments_32_halfLen_1.25) created and registered.
I0505 23:15:02.695358 43237 AssetAttributesManager.cpp:117] Asset attributes (cubeSolid : cubeSolid) created and registered.
I0505 23:15:02.695364 43237 AssetAttributesManager.cpp:117] Asset attributes (cubeWireframe : cubeWireframe) created and registered.
I0505 23:15:02.695384 43237 AssetAttributesManager.cpp:117] Asset attributes (cylinderSolid : cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
I0505 23:15:02.695398 43237 AssetAttributesManager.cpp:117] Asset attributes (cylinderWireframe : cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
I0505 23:15:02.695407 43237 AssetAttributesManager.cpp:117] Asset attributes (icosphereSolid : icosphereSolid_subdivs_1) created and registered.
I0505 23:15:02.695415 43237 AssetAttributesManager.cpp:117] Asset attributes (icosphereWireframe : icosphereWireframe_subdivs_1) created and registered.
I0505 23:15:02.695427 43237 AssetAttributesManager.cpp:117] Asset attributes (uvSphereSolid : uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
I0505 23:15:02.695438 43237 AssetAttributesManager.cpp:117] Asset attributes (uvSphereWireframe : uvSphereWireframe_rings_16_segments_32) created and registered.
I0505 23:15:02.695442 43237 AssetAttributesManager.cpp:105] AssetAttributesManager::buildCtorFuncPtrMaps : Built default primitive asset templates : 12
I0505 23:15:02.695808 43237 SceneDatasetAttributesManager.cpp:23] File (default) not found, so new default dataset attributes created and registered.
I0505 23:15:02.695811 43237 MetadataMediator.cpp:47] MetadataMediator::createDataset : Dataset default successfully created.
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0505 23:15:02.696421 43239 ManagedContainerBase.cpp:19] ManagedContainerBase::convertFilenameToJSON : Filename : default changed to proposed JSON configuration filename : default.scene_dataset_config.json
I0505 23:15:02.696435 43239 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Dataset) : Proposing JSON name : default.scene_dataset_config.json from original name : default | This file  does not exist.
I0505 23:15:02.696480 43239 AssetAttributesManager.cpp:117] Asset attributes (capsule3DSolid : capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
I0505 23:15:02.696501 43239 AssetAttributesManager.cpp:117] Asset attributes (capsule3DWireframe : capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
I0505 23:15:02.696520 43239 AssetAttributesManager.cpp:117] Asset attributes (coneSolid : coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
I0505 23:15:02.696532 43239 AssetAttributesManager.cpp:117] Asset attributes (coneWireframe : coneWireframe_segments_32_halfLen_1.25) created and registered.
I0505 23:15:02.696538 43239 AssetAttributesManager.cpp:117] Asset attributes (cubeSolid : cubeSolid) created and registered.
I0505 23:15:02.696544 43239 AssetAttributesManager.cpp:117] Asset attributes (cubeWireframe : cubeWireframe) created and registered.
I0505 23:15:02.696563 43239 AssetAttributesManager.cpp:117] Asset attributes (cylinderSolid : cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
I0505 23:15:02.696578 43239 AssetAttributesManager.cpp:117] Asset attributes (cylinderWireframe : cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
I0505 23:15:02.696586 43239 AssetAttributesManager.cpp:117] Asset attributes (icosphereSolid : icosphereSolid_subdivs_1) created and registered.
I0505 23:15:02.696594 43239 AssetAttributesManager.cpp:117] Asset attributes (icosphereWireframe : icosphereWireframe_subdivs_1) created and registered.
I0505 23:15:02.696607 43239 AssetAttributesManager.cpp:117] Asset attributes (uvSphereSolid : uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
I0505 23:15:02.696617 43239 AssetAttributesManager.cpp:117] Asset attributes (uvSphereWireframe : uvSphereWireframe_rings_16_segments_32) created and registered.
I0505 23:15:02.696622 43239 AssetAttributesManager.cpp:105] AssetAttributesManager::buildCtorFuncPtrMaps : Built default primitive asset templates : 12
I0505 23:15:02.696978 43239 SceneDatasetAttributesManager.cpp:23] File (default) not found, so new default dataset attributes created and registered.
I0505 23:15:02.696981 43239 MetadataMediator.cpp:47] MetadataMediator::createDataset : Dataset default successfully created.
I0505 23:15:02.698446 43237 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Physics Manager) : Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json | This file  does not exist.
I0505 23:15:02.698459 43237 PhysicsAttributesManager.cpp:27] File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
I0505 23:15:02.698465 43237 AbstractObjectAttributesManagerBase.h:175] AbstractObjectAttributesManager<T>::createObject  (Stage) : Making attributes with handle : data/scene_datasets/gibson/Pablo.glb
I0505 23:15:02.698468 43237 ManagedContainerBase.cpp:19] ManagedContainerBase::convertFilenameToJSON : Filename : data/scene_datasets/gibson/Pablo.glb changed to proposed JSON configuration filename : data/scene_datasets/gibson/Pablo.stage_config.json
I0505 23:15:02.698472 43237 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Stage) : Proposing JSON name : data/scene_datasets/gibson/Pablo.stage_config.json from original name : data/scene_datasets/gibson/Pablo.glb | This file  does not exist.
I0505 23:15:02.698518 43237 AbstractObjectAttributesManagerBase.h:181] AbstractObjectAttributesManager<T>::createObject  (Stage) : Done making attributes with handle : data/scene_datasets/gibson/Pablo.glb
I0505 23:15:02.698519 43237 AbstractObjectAttributesManagerBase.h:188] File (data/scene_datasets/gibson/Pablo.glb) exists but is not a recognized config filename extension, so new default Stage attributes created and registered.
I0505 23:15:02.698526 43237 Simulator.cpp:156] Loading navmesh from data/scene_datasets/gibson/Pablo.navmesh
I0505 23:15:02.698554 43237 Simulator.cpp:158] Loaded.
I0505 23:15:02.698561 43237 SceneGraph.h:93] Created DrawableGroup: 
I0505 23:15:02.699677 43239 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Physics Manager) : Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json | This file  does not exist.
I0505 23:15:02.699690 43239 PhysicsAttributesManager.cpp:27] File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
I0505 23:15:02.699693 43239 AbstractObjectAttributesManagerBase.h:175] AbstractObjectAttributesManager<T>::createObject  (Stage) : Making attributes with handle : data/scene_datasets/gibson/Greigsville.glb
I0505 23:15:02.699697 43239 ManagedContainerBase.cpp:19] ManagedContainerBase::convertFilenameToJSON : Filename : data/scene_datasets/gibson/Greigsville.glb changed to proposed JSON configuration filename : data/scene_datasets/gibson/Greigsville.stage_config.json
I0505 23:15:02.699699 43239 AttributesManagerBase.h:283] AttributesManager<T>::createFromJsonOrDefaultInternal  (Stage) : Proposing JSON name : data/scene_datasets/gibson/Greigsville.stage_config.json from original name : data/scene_datasets/gibson/Greigsville.glb | This file  does not exist.
I0505 23:15:02.699743 43239 AbstractObjectAttributesManagerBase.h:181] AbstractObjectAttributesManager<T>::createObject  (Stage) : Done making attributes with handle : data/scene_datasets/gibson/Greigsville.glb
I0505 23:15:02.699745 43239 AbstractObjectAttributesManagerBase.h:188] File (data/scene_datasets/gibson/Greigsville.glb) exists but is not a recognized config filename extension, so new default Stage attributes created and registered.
I0505 23:15:02.699749 43239 Simulator.cpp:156] Loading navmesh from data/scene_datasets/gibson/Greigsville.navmesh
I0505 23:15:02.699777 43239 Simulator.cpp:158] Loaded.
I0505 23:15:02.699785 43239 SceneGraph.h:93] Created DrawableGroup: 
Renderer: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 535.54.03
Using optional features:
    GL_ARB_ES2_compatibility
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_invalidate_subdata
    GL_ARB_multi_bind
    GL_ARB_robustness
    GL_ARB_separate_shader_objects
    GL_ARB_texture_filter_anisotropic
    GL_ARB_texture_storage
    GL_ARB_texture_storage_multisample
    GL_ARB_vertex_array_object
    GL_KHR_debug
Using driver workarounds:
    no-forward-compatible-core-context
    no-layout-qualifiers-on-old-glsl
    nv-zero-context-profile-mask
    nv-implementation-color-read-format-dsa-broken
    nv-cubemap-inconsistent-compressed-image-size
    nv-cubemap-broken-full-compressed-image-query
    nv-compressed-block-size-in-bits
I0505 23:15:02.753054 43238 ResourceManager.cpp:234] ResourceManager::loadStage : Not loading semantic mesh
I0505 23:15:02.753063 43238 ResourceManager.cpp:262] ResourceManager::loadStage : start load render asset data/scene_datasets/gibson/Mosquito.glb.
I0505 23:15:02.753065 43238 ResourceManager.cpp:569] ResourceManager::loadStageInternal : Attempting to load stage data/scene_datasets/gibson/Mosquito.glb 
I0505 23:15:02.753078 43238 ResourceManager.cpp:1119] Importing Basis files as BC7 for Mosquito.glb
Renderer: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 535.54.03
Using optional features:
    GL_ARB_ES2_compatibility
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_invalidate_subdata
    GL_ARB_multi_bind
    GL_ARB_robustness
    GL_ARB_separate_shader_objects
    GL_ARB_texture_filter_anisotropic
    GL_ARB_texture_storage
    GL_ARB_texture_storage_multisample
    GL_ARB_vertex_array_object
    GL_KHR_debug
Using driver workarounds:
    no-forward-compatible-core-context
    no-layout-qualifiers-on-old-glsl
    nv-zero-context-profile-mask
    nv-implementation-color-read-format-dsa-broken
    nv-cubemap-inconsistent-compressed-image-size
    nv-cubemap-broken-full-compressed-image-query
    nv-compressed-block-size-in-bits
Renderer: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 535.54.03
I0505 23:15:02.820206 43237 ResourceManager.cpp:234] ResourceManager::loadStage : Not loading semantic mesh
I0505 23:15:02.820216 43237 ResourceManager.cpp:262] ResourceManager::loadStage : start load render asset data/scene_datasets/gibson/Pablo.glb.
I0505 23:15:02.820219 43237 ResourceManager.cpp:569] ResourceManager::loadStageInternal : Attempting to load stage data/scene_datasets/gibson/Pablo.glb 
I0505 23:15:02.820233 43237 ResourceManager.cpp:1119] Importing Basis files as BC7 for Pablo.glb
Using optional features:
    GL_ARB_ES2_compatibility
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_invalidate_subdata
    GL_ARB_multi_bind
    GL_ARB_robustness
    GL_ARB_separate_shader_objects
    GL_ARB_texture_filter_anisotropic
    GL_ARB_texture_storage
    GL_ARB_texture_storage_multisample
    GL_ARB_vertex_array_object
    GL_KHR_debug
Using driver workarounds:
    no-forward-compatible-core-context
    no-layout-qualifiers-on-old-glsl
    nv-zero-context-profile-mask
    nv-implementation-color-read-format-dsa-broken
    nv-cubemap-inconsistent-compressed-image-size
    nv-cubemap-broken-full-compressed-image-query
    nv-compressed-block-size-in-bits
I0505 23:15:02.820413 43239 ResourceManager.cpp:234] ResourceManager::loadStage : Not loading semantic mesh
I0505 23:15:02.820425 43239 ResourceManager.cpp:262] ResourceManager::loadStage : start load render asset data/scene_datasets/gibson/Greigsville.glb.
I0505 23:15:02.820430 43239 ResourceManager.cpp:569] ResourceManager::loadStageInternal : Attempting to load stage data/scene_datasets/gibson/Greigsville.glb 
I0505 23:15:02.820446 43239 ResourceManager.cpp:1119] Importing Basis files as BC7 for Greigsville.glb
W0505 23:15:03.428081 43237 Simulator.cpp:248] :
---
 The active scene does not contain semantic annotations. 
---
I0505 23:15:03.428340 43237 simulator.py:213] Loaded navmesh data/scene_datasets/gibson/Pablo.navmesh
I0505 23:15:03.428566 43237 simulator.py:225] Recomputing navmesh for agent's height 0.88 and radius 0.18.
W0505 23:15:03.434672 43239 Simulator.cpp:248] :
---
 The active scene does not contain semantic annotations. 
---
I0505 23:15:03.434925 43239 simulator.py:213] Loaded navmesh data/scene_datasets/gibson/Greigsville.navmesh
I0505 23:15:03.435192 43239 simulator.py:225] Recomputing navmesh for agent's height 0.88 and radius 0.18.
I0505 23:15:03.435745 43237 PathFinder.cpp:382] Building navmesh with 200x88 cells
I0505 23:15:03.442431 43239 PathFinder.cpp:382] Building navmesh with 156x139 cells
I0505 23:15:03.479012 43237 PathFinder.cpp:650] Created navmesh with 77 vertices 40 polygons
I0505 23:15:03.479032 43237 Simulator.cpp:710] reconstruct navmesh successful
2024-05-05 23:15:03,479 Initializing task Nav-v0
I0505 23:15:03.484702 43239 PathFinder.cpp:650] Created navmesh with 78 vertices 38 polygons
I0505 23:15:03.484717 43239 Simulator.cpp:710] reconstruct navmesh successful
2024-05-05 23:15:03,485 Initializing task Nav-v0
W0505 23:15:04.779476 43238 Simulator.cpp:248] :
---
 The active scene does not contain semantic annotations. 
---
I0505 23:15:04.779776 43238 simulator.py:213] Loaded navmesh data/scene_datasets/gibson/Mosquito.navmesh
I0505 23:15:04.779999 43238 simulator.py:225] Recomputing navmesh for agent's height 0.88 and radius 0.18.
I0505 23:15:04.785053 43238 PathFinder.cpp:382] Building navmesh with 224x469 cells
I0505 23:15:04.865945 43238 PathFinder.cpp:650] Created navmesh with 613 vertices 306 polygons
I0505 23:15:04.865969 43238 Simulator.cpp:710] reconstruct navmesh successful
2024-05-05 23:15:04,866 Initializing task Nav-v0
Traceback (most recent call last):
  File "habitat_baselines/run.py", line 80, in <module>
    main()
  File "habitat_baselines/run.py", line 40, in main
    run_exp(**vars(args))
  File "habitat_baselines/run.py", line 76, in run_exp
    execute_exp(config, run_type)
  File "habitat_baselines/run.py", line 61, in execute_exp
    trainer.eval()
  File "/home/amadeus/Habitat/habitat-lab/habitat_baselines/common/base_trainer.py", line 111, in eval
    checkpoint_index=ckpt_idx,
  File "/home/amadeus/Habitat/habitat-lab/habitat_baselines/rl/ppo/ppo_trainer.py", line 866, in _eval_checkpoint
    self._setup_actor_critic_agent(ppo_cfg)
  File "/home/amadeus/Habitat/habitat-lab/habitat_baselines/rl/ppo/ppo_trainer.py", line 128, in _setup_actor_critic_agent
    self.config, observation_space, self.envs.action_spaces[0]
  File "/home/amadeus/Habitat/habitat-lab/habitat_baselines/rl/ddppo/policy/resnet_policy.py", line 80, in from_config
    force_blind_policy=config.FORCE_BLIND_POLICY,
  File "/home/amadeus/Habitat/habitat-lab/habitat_baselines/rl/ddppo/policy/resnet_policy.py", line 63, in __init__
    force_blind_policy=force_blind_policy,
  File "/home/amadeus/Habitat/habitat-lab/habitat_baselines/rl/ddppo/policy/resnet_policy.py", line 304, in __init__
    make_backbone=getattr(resnet, backbone),
AttributeError: module 'habitat_baselines.rl.ddppo.policy.resnet' has no attribute 'resnet50_clip_avgpool'
Exception ignored in: <bound method VectorEnv.__del__ of <habitat.core.vector_env.VectorEnv object at 0x7fbf8e269240>>
Traceback (most recent call last):
  File "/home/amadeus/Habitat/habitat-lab/habitat/core/vector_env.py", line 588, in __del__
  File "/home/amadeus/Habitat/habitat-lab/habitat/core/vector_env.py", line 459, in close
  File "/home/amadeus/Habitat/habitat-lab/habitat/core/vector_env.py", line 118, in `__call__`
  File "/home/amadeus/Habitat/habitat-lab/habitat/utils/pickle5_multiprocessing.py", line 61, in send
TypeError: 'NoneType' object is not callable

I can't find resnet50_clip_avgpool in the habitat_baselines.rl.ddppo.policy.resnet, could you teach me how to fix it

apoorvkh commented 6 months ago

Hey, it looks like you are not using the right fork of habitat-lab.

Your error occurs at

  File "/home/amadeus/Habitat/habitat-lab/habitat_baselines/rl/ddppo/policy/resnet_policy.py", line 304, in __init__
    make_backbone=getattr(resnet, backbone),

which corresponds to this line in the original habitat-lab repo. On the other hand, the line in embodied-clip's fork of habitat-lab is different.

So please follow the embodied-clip instructions very carefully.

https://github.com/allenai/embodied-clip/blob/main/readme_files/baselines_habitat.md#installation

In particular, you need to

git clone -b habitat --single-branch https://github.com/allenai/embodied-clip.git /home/amadeus/Habitat/embclip-habitat

and work from /home/amadeus/Habitat/embclip-habitat instead of your /home/amadeus/Habitat/habitat-lab.

Good luck!