peterzliang
commented
8 years ago just read the same issue https://github.com/cbfinn/gps/issues/24
Closed peterzliang closed 8 years ago
peterzliang
commented
8 years ago just read the same issue https://github.com/cbfinn/gps/issues/24
Hi,
First, thank a lot for your excellent work.
I tried to run "python python/gps/gps_main.py box2d_badmm_example". Got the "LinAlgError". BTW, no problem for me to run "python python/gps/gps_main.py box2d_arm_example"
The output log:
$ python python/gps/gps_main.py box2d_badmm_example <...SNIP...> I0615 17:57:23.078760 25761 net.cpp:684] Ignoring source layer Python4 I0615 17:57:23.219300 25761 net.cpp:684] Ignoring source layer Python4 I0615 17:57:24.172405 25761 net.cpp:684] Ignoring source layer Python4 I0615 17:57:24.303740 25761 net.cpp:684] Ignoring source layer Python4 I0615 17:57:28.371433 25761 solver.cpp:337] Iteration 0, Testing net (#0) I0615 17:57:28.371523 25761 net.cpp:684] Ignoring source layer Python4 I0615 17:57:28.371626 25761 solver.cpp:404] Test net output #0: InnerProduct3 = -0.000267899 I0615 17:57:28.371691 25761 solver.cpp:404] Test net output #1: InnerProduct3 = -8.7297e-05 I0615 17:57:28.371724 25761 solver.cpp:337] Iteration 0, Testing net (#1) I0615 17:57:28.371752 25761 net.cpp:684] Ignoring source layer Python1 I0615 17:57:28.371785 25761 net.cpp:684] Ignoring source layer Python4 I0615 17:57:28.371830 25761 solver.cpp:404] Test net output #0: InnerProduct3 = 0 I0615 17:57:28.371863 25761 solver.cpp:404] Test net output #1: InnerProduct3 = 0 I0615 17:57:36.898833 25761 net.cpp:684] Ignoring source layer Python4 I0615 17:57:36.901408 25761 net.cpp:684] Ignoring source layer Python4 I0615 17:57:37.029466 25761 net.cpp:684] Ignoring source layer Python4 Exception in thread Thread-2: Traceback (most recent call last): File "/usr/lib/python2.7/threading.py", line 810, in bootstrap_inner self.run() File "/usr/lib/python2.7/threading.py", line 763, in run self.__target(_self.args, *_self.__kwargs) File "python/gps/gps_main.py", line 387, in
target=lambda: gps.run(itr_load=resume_training_itr)
File "python/gps/gps_main.py", line 85, in run
self._take_iteration(itr, traj_sample_lists)
File "python/gps/gps_main.py", line 213, in _take_iteration
self.algorithm.iteration(sample_lists)
File "python/gps/algorithm/algorithm_badmm.py", line 59, in iteration
self._update_policy_fit(m) # Update policy priors.
File "python/gps/algorithm/algorithm_badmm.py", line 180, in _update_policy_fit
SampleList(self.cur[m].pol_info.policy_samples)
File "python/gps/algorithm/policy/policy_prior_gmm.py", line 83, in update
self.gmm.update(XU, K)
File "python/gps/utility/gmm.py", line 175, in update
logobs = self.estep(data)
File "python/gps/utility/gmm.py", line 76, in estep
check_finite=False)
File "/usr/lib/python2.7/dist-packages/scipy/linalg/decomp_cholesky.py", line 81, in cholesky
check_finite=check_finite)
File "/usr/lib/python2.7/dist-packages/scipy/linalg/decomp_cholesky.py", line 30, in _cholesky
raise LinAlgError("%d-th leading minor not positive definite" % info)
LinAlgError: 1-th leading minor not positive definite
Thanks, Peter