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duckietown / gym-duckietown

Self-driving car simulator for the Duckietown universe
http://duckietown.org
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AssertionError #120

Closed x15079 closed 5 years ago

x15079 commented 5 years ago

use python3 pytorch_rl/main.py --no-vis --・・・ please help me AssertionError

Traceback (most recent call last): File "pytorch_rl/main.py", line 298, in main() File "pytorch_rl/main.py", line 130, in main obs, reward, done, info = envs.step(cpu_actions) File "/home/ubuntu/gym-duckietown/pytorch_rl/vec_env/init.py", line 59, in step return self.step_wait() File "/home/ubuntu/gym-duckietown/pytorch_rl/vec_env/dummy_vec_env.py", line 16, in step_wait results = [env.step(a) for (a,env) in zip(self.actions, self.envs)] File "/home/ubuntu/gym-duckietown/pytorch_rl/vec_env/dummy_vec_env.py", line 16, in results = [env.step(a) for (a,env) in zip(self.actions, self.envs)] File "/home/ubuntu/.local/lib/python3.5/site-packages/gym/core.py", line 304, in step observation, reward, done, info = self.env.step(action) File "/home/ubuntu/.local/lib/python3.5/site-packages/gym/core.py", line 304, in step observation, reward, done, info = self.env.step(action) File "/home/ubuntu/.local/lib/python3.5/site-packages/gym/core.py", line 332, in step return self.env.step(action) File "/home/ubuntu/gym-duckietown/gym_duckietown/envs/duckietown_env.py", line 75, in step obs, reward, done, info = Simulator.step(self, vels) File "/home/ubuntu/gym-duckietown/gym_duckietown/simulator.py", line 1196, in step misc = self.get_agent_info() File "/home/ubuntu/gym-duckietown/gym_duckietown/simulator.py", line 1154, in get_agent_info lp = self.get_lane_pos(pos, angle) File "/home/ubuntu/gym-duckietown/gym_duckietown/simulator.py", line 979, in get_lane_pos assert point is not None AssertionError

AI-Guru commented 5 years ago

This bug is very hard to trace. I am currently looking into it.

AI-Guru commented 5 years ago

Could it be that the agent somehow manages to be on a tile that is not driveable?

This is the tile, when the assertion is violated:

{'coords': (1, 3), 'kind': 'asphalt', 'angle': 0, 'drivable': False, 'texture': <gym_duckietown.graphics.Texture object at 0x1329fd0f0>, 'color': array([0.97397976, 0.83174457, 1.14550171])}

And this is the position of the agent:

[0.61297318 0.         2.43493106]
AI-Guru commented 5 years ago

I did a small workaround. I just end the episode when this error occurs. I am very hesitant to create a pull request. Reason: This is treating the problem's symptoms.

bhairavmehta95 commented 5 years ago

Unfortunately, we haven't been able to find the cause for a few months now. @maximecb I had another user email me about this issue - should we just end the episode? I can't always reproduce this but I can devote some time early next week to finding / fixing.

maximecb commented 5 years ago

According to the trace, this occurs in a call to get_agent_info(), which is called in the step() function, after update_physics(). In other words, the agent position is updated, and then get_lane_pos() is called. I think it's possible that the action puts the agent position outside of a drivable tile.

The cleanest fix IMO would be to add an extra check, call self._drivable_pos(pos) in get_agent_info() to check that the position is on a drivable tile before calling get_lane_pos().

bhairavmehta95 commented 5 years ago

Okay I will fix it - sorry I should have taken a closer look.

Thank you!