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ValueError: array must not contain infs or NaNs #119

Open dujinyu opened 4 years ago

dujinyu commented 4 years ago

when i run python python/gps/gps_main.py box2d_pointmass_pi2_example, the following error occurs.

('__file__:', 'python/gps/gps_main.py')
('add path:', 'python')
pygame 1.9.6
Hello from the pygame community. https://www.pygame.org/contribute.html
Initializing pygame framework...
DEBUG:tm._add: /joy, sensor_msgs/Joy, sub
DEBUG:tm._add: /camera/rgb/image_color, sensor_msgs/Image, sub
DEBUG:Unrecognized keyboard input: escape
DEBUG:Unrecognized keyboard input: escape
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/_minimize.py:298: RuntimeWarning: Method BFGS cannot handle constraints nor bounds.
  RuntimeWarning)
python/gps/algorithm/traj_opt/traj_opt_pi2.py:223: RuntimeWarning: overflow encountered in exp
  np.sum(np.exp(exponent / eta))))
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/optimize.py:597: RuntimeWarning: invalid value encountered in subtract
  grad[k] = (f(*((xk+d,)+args)) - f0) / d[k]
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/linesearch.py:414: RuntimeWarning: invalid value encountered in double_scalars
  radical = B*B-3*A*C
[[ nan  nan]
 [ nan  nan]]
Traceback (most recent call last):
  File "python/gps/gps_main.py", line 108, in run
    self._take_iteration(itr, traj_sample_lists)  # 迭代
  File "python/gps/gps_main.py", line 253, in _take_iteration
    self.algorithm.iteration(sample_lists)
  File "python/gps/algorithm/algorithm_traj_opt_pi2.py", line 33, in iteration
    self._update_trajectories()
  File "python/gps/algorithm/algorithm.py", line 128, in _update_trajectories
    self.traj_opt.update(cond, self)
  File "python/gps/algorithm/traj_opt/traj_opt_pi2.py", line 95, in update
    fixed_eta, use_fixed_eta
  File "python/gps/algorithm/traj_opt/traj_opt_pi2.py", line 177, in update_pi2
    mult = np.trace(np.dot(sp.linalg.inv(cov_old[t]),
  File "/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/linalg/basic.py", line 308, in inv
    a1 = np.asarray_chkfinite(a)
  File "/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/numpy/lib/function_base.py", line 1216, in asarray_chkfinite
    "array must not contain infs or NaNs")
ValueError: array must not contain infs or NaNs

According to the err info, when we run sp.linalg.inv() in traj_opt_pi2.py, the matrix cov_old[t] contains infs or NaNs. I don't find a suitable solution after google. Did you encounter this err? If you did, how to address this err? Thanks.

ljiang43 commented 3 years ago

Hi, I got this problem too when I used scipy.optimize.minimize! Did you solve it at the end? Thanks for your sharing : )