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hyperplane-lab / RLAfford

RLAfford: End-to-End Affordance Learning for Robotic Manipulation, ICRA 2023
https://sites.google.com/view/rlafford/
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pc RL env franka actor create problem: "free(): invalid pointer" #7

Closed ChengYaofeng closed 1 year ago

ChengYaofeng commented 1 year ago

when I run all the pc RL env tasks like franka_cabinet_PC_partial, I meet error ---- free(): invalid pointer. And I checked the error location, it occurred on line franka_actor = self.gym.create_actor(env_ptr, self.franka_asset, initial_franka_pose, "franka", env_id, 2, 0) of franka_cabinet.py. It happens in all the pc tasks, and in the _place_agents function's for env_id in range(env_num): iteration. I can create the franka_actor 79 times and then the error occurs. Do you have any idea of this issue?

ChengYaofeng commented 1 year ago

OK, I found the answer. It is because the default env_num is too much for my GPU RAM(NV 3060 12G), I reduced the number of env to 40 and it can run well, which took about 8G GPU RAM.

GengYiran commented 1 year ago

Yes. This is a common problem that can usually be solved by changing the number of environments