How to change the environment used in metadrive/examples/train_generalization_experiment.py?

c4cld commented 1 year ago

I wan to train an autonomous driving policy in environments other than the default MetaDriveEnv, such as WaymoEnv, by running train_generalization_experiment.py. Once the env variable is changed from MetaDriveEnv to WaymoEnv, the following error occurs.

Failure # 1 (occurred at 2023-06-27_17-36-53) Traceback (most recent call last): File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/execution/ray_trial_executor.py", line 1070, in get_next_executor_event future_result = ray.get(ready_future) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/client_mode_hook.py", line 105, in wrapper return func(*args, **kwargs) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/worker.py", line 2311, in get raise value ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::PPO.init()[39m (pid=24049, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 239, in _setup self.add_workers( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 612, in add_workers raise result.get() File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/utils/actor_manager.py", line 473, in fetch_result result = ray.get(r) ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::RolloutWorker.init()[39m (pid=24107, ip=172.30.64.140, repr=<ray.rllib.evaluation.rollout_worker.RolloutWorker object at 0x7f4af3f83d90>) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/rollout_worker.py", line 585, in init self.env = env_creator(copy.deepcopy(self.env_context)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 2181, in return env_id, lambda cfg: env_specifier(cfg) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 81, in init super(WaymoEnv, self).init__(config) File "/root/aliyun/metadrive/metadrive/envs/base_env.py", line 199, in init merged_config = self._merge_extra_config(config) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 85, in _merge_extra_config config = self.default_config().update(config, allow_add_new_key=False) File "/root/aliyun/metadrive/metadrive/utils/config.py", line 122, in update raise KeyError( KeyError: "'{'start_seed', 'random_traffic', 'traffic_density'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

During handling of the above exception, another exception occurred:

[36mray::PPO.init()[39m (pid=24049, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 441, in init super().init( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/trainable/trainable.py", line 169, in init self.setup(copy.deepcopy(self.config)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 566, in setup self.workers = WorkerSet( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 191, in init raise e.args[0].args[2] KeyError: "'{'start_seed', 'random_traffic', 'traffic_density'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

Failure # 2 (occurred at 2023-06-27_17-37-03) Traceback (most recent call last): File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/execution/ray_trial_executor.py", line 1070, in get_next_executor_event future_result = ray.get(ready_future) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/client_mode_hook.py", line 105, in wrapper return func(*args, **kwargs) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/worker.py", line 2311, in get raise value ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::PPO.init()[39m (pid=24367, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 239, in _setup self.add_workers( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 612, in add_workers raise result.get() File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/utils/actor_manager.py", line 473, in fetch_result result = ray.get(r) ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::RolloutWorker.init()[39m (pid=24420, ip=172.30.64.140, repr=<ray.rllib.evaluation.rollout_worker.RolloutWorker object at 0x7f69fdf7be50>) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/rollout_worker.py", line 585, in init self.env = env_creator(copy.deepcopy(self.env_context)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 2181, in return env_id, lambda cfg: env_specifier(cfg) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 81, in init super(WaymoEnv, self).init__(config) File "/root/aliyun/metadrive/metadrive/envs/base_env.py", line 199, in init merged_config = self._merge_extra_config(config) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 85, in _merge_extra_config config = self.default_config().update(config, allow_add_new_key=False) File "/root/aliyun/metadrive/metadrive/utils/config.py", line 122, in update raise KeyError( KeyError: "'{'random_traffic', 'traffic_density', 'start_seed'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

During handling of the above exception, another exception occurred:

[36mray::PPO.init()[39m (pid=24367, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 441, in init super().init( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/trainable/trainable.py", line 169, in init self.setup(copy.deepcopy(self.config)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 566, in setup self.workers = WorkerSet( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 191, in init raise e.args[0].args[2] KeyError: "'{'random_traffic', 'traffic_density', 'start_seed'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

Failure # 3 (occurred at 2023-06-27_17-37-15) Traceback (most recent call last): File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/execution/ray_trial_executor.py", line 1070, in get_next_executor_event future_result = ray.get(ready_future) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/client_mode_hook.py", line 105, in wrapper return func(*args, **kwargs) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/worker.py", line 2311, in get raise value ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::PPO.init()[39m (pid=24667, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 239, in _setup self.add_workers( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 612, in add_workers raise result.get() File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/utils/actor_manager.py", line 473, in fetch_result result = ray.get(r) ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::RolloutWorker.init()[39m (pid=24726, ip=172.30.64.140, repr=<ray.rllib.evaluation.rollout_worker.RolloutWorker object at 0x7f1db8577d90>) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/rollout_worker.py", line 585, in init self.env = env_creator(copy.deepcopy(self.env_context)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 2181, in return env_id, lambda cfg: env_specifier(cfg) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 81, in init super(WaymoEnv, self).init__(config) File "/root/aliyun/metadrive/metadrive/envs/base_env.py", line 199, in init merged_config = self._merge_extra_config(config) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 85, in _merge_extra_config config = self.default_config().update(config, allow_add_new_key=False) File "/root/aliyun/metadrive/metadrive/utils/config.py", line 122, in update raise KeyError( KeyError: "'{'traffic_density', 'random_traffic', 'start_seed'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

During handling of the above exception, another exception occurred:

[36mray::PPO.init()[39m (pid=24667, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 441, in init super().init( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/trainable/trainable.py", line 169, in init self.setup(copy.deepcopy(self.config)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 566, in setup self.workers = WorkerSet( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 191, in init raise e.args[0].args[2] KeyError: "'{'traffic_density', 'random_traffic', 'start_seed'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

Failure # 4 (occurred at 2023-06-27_17-37-28) Traceback (most recent call last): File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/execution/ray_trial_executor.py", line 1070, in get_next_executor_event future_result = ray.get(ready_future) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/client_mode_hook.py", line 105, in wrapper return func(*args, **kwargs) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/worker.py", line 2311, in get raise value ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::PPO.init()[39m (pid=24980, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 239, in _setup self.add_workers( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 612, in add_workers raise result.get() File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/utils/actor_manager.py", line 473, in fetch_result result = ray.get(r) ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::RolloutWorker.init()[39m (pid=25045, ip=172.30.64.140, repr=<ray.rllib.evaluation.rollout_worker.RolloutWorker object at 0x7f455406fdf0>) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/rollout_worker.py", line 585, in init self.env = env_creator(copy.deepcopy(self.env_context)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 2181, in return env_id, lambda cfg: env_specifier(cfg) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 81, in init super(WaymoEnv, self).init__(config) File "/root/aliyun/metadrive/metadrive/envs/base_env.py", line 199, in init merged_config = self._merge_extra_config(config) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 85, in _merge_extra_config config = self.default_config().update(config, allow_add_new_key=False) File "/root/aliyun/metadrive/metadrive/utils/config.py", line 122, in update raise KeyError( KeyError: "'{'random_traffic', 'start_seed', 'traffic_density'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

During handling of the above exception, another exception occurred:

[36mray::PPO.init()[39m (pid=24980, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 441, in init super().init( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/trainable/trainable.py", line 169, in init self.setup(copy.deepcopy(self.config)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 566, in setup self.workers = WorkerSet( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 191, in init raise e.args[0].args[2] KeyError: "'{'random_traffic', 'start_seed', 'traffic_density'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

Failure # 5 (occurred at 2023-06-27_17-37-38) Traceback (most recent call last): File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/execution/ray_trial_executor.py", line 1070, in get_next_executor_event future_result = ray.get(ready_future) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/client_mode_hook.py", line 105, in wrapper return func(*args, **kwargs) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/worker.py", line 2311, in get raise value ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::PPO.init()[39m (pid=25298, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 239, in _setup self.add_workers( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 612, in add_workers raise result.get() File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/utils/actor_manager.py", line 473, in fetch_result result = ray.get(r) ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::RolloutWorker.init()[39m (pid=25363, ip=172.30.64.140, repr=<ray.rllib.evaluation.rollout_worker.RolloutWorker object at 0x7f5df263be20>) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/rollout_worker.py", line 585, in init self.env = env_creator(copy.deepcopy(self.env_context)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 2181, in return env_id, lambda cfg: env_specifier(cfg) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 81, in init super(WaymoEnv, self).init__(config) File "/root/aliyun/metadrive/metadrive/envs/base_env.py", line 199, in init merged_config = self._merge_extra_config(config) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 85, in _merge_extra_config config = self.default_config().update(config, allow_add_new_key=False) File "/root/aliyun/metadrive/metadrive/utils/config.py", line 122, in update raise KeyError( KeyError: "'{'random_traffic', 'start_seed', 'traffic_density'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

During handling of the above exception, another exception occurred:

[36mray::PPO.init()[39m (pid=25298, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 441, in init super().init( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/trainable/trainable.py", line 169, in init self.setup(copy.deepcopy(self.config)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 566, in setup self.workers = WorkerSet( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 191, in init raise e.args[0].args[2] KeyError: "'{'random_traffic', 'start_seed', 'traffic_density'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

Failure # 6 (occurred at 2023-06-27_17-37-49) Traceback (most recent call last): File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/execution/ray_trial_executor.py", line 1070, in get_next_executor_event future_result = ray.get(ready_future) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/client_mode_hook.py", line 105, in wrapper return func(*args, **kwargs) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/_private/worker.py", line 2311, in get raise value ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::PPO.init()[39m (pid=25614, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 239, in _setup self.add_workers( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 612, in add_workers raise result.get() File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/utils/actor_manager.py", line 473, in fetch_result result = ray.get(r) ray.exceptions.RayActorError: The actor died because of an error raised in its creation task, [36mray::RolloutWorker.init()[39m (pid=25680, ip=172.30.64.140, repr=<ray.rllib.evaluation.rollout_worker.RolloutWorker object at 0x7f5a00477e80>) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/rollout_worker.py", line 585, in init self.env = env_creator(copy.deepcopy(self.env_context)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 2181, in return env_id, lambda cfg: env_specifier(cfg) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 81, in init super(WaymoEnv, self).init__(config) File "/root/aliyun/metadrive/metadrive/envs/base_env.py", line 199, in init merged_config = self._merge_extra_config(config) File "/root/aliyun/metadrive/metadrive/envs/real_data_envs/waymo_env.py", line 85, in _merge_extra_config config = self.default_config().update(config, allow_add_new_key=False) File "/root/aliyun/metadrive/metadrive/utils/config.py", line 122, in update raise KeyError( KeyError: "'{'start_seed', 'traffic_density', 'random_traffic'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

During handling of the above exception, another exception occurred:

[36mray::PPO.init()[39m (pid=25614, ip=172.30.64.140, repr=PPO) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 441, in init super().init( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/tune/trainable/trainable.py", line 169, in init self.setup(copy.deepcopy(self.config)) File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/algorithms/algorithm.py", line 566, in setup self.workers = WorkerSet( File "/root/anaconda3/envs/metadriver/lib/python3.10/site-packages/ray/rllib/evaluation/worker_set.py", line 191, in init raise e.args[0].args[2] KeyError: "'{'start_seed', 'traffic_density', 'random_traffic'}' does not exist in existing config. Please use config.update(...) to update the config. Existing keys: dict_keys(['random_agent_model', 'agent_policy', 'num_agents', 'is_multi_agent', 'allow_respawn', 'delay_done', 'return_single_space', 'manual_control', 'controller', 'decision_repeat', 'discrete_action', 'discrete_steering_dim', 'discrete_throttle_dim', 'use_multi_discrete', 'action_check', 'use_render', 'debug', 'disable_model_compression', 'cull_scene', 'use_chase_camera_follow_lane', 'camera_height', 'camera_dist', 'camera_pitch', 'camera_smooth', 'prefer_track_agent', 'draw_map_resolution', 'top_down_camera_initial_x', 'top_down_camera_initial_y', 'top_down_camera_initial_z', 'show_logo', 'vehicle_config', 'target_vehicle_configs', 'window_size', 'physics_world_step_size', 'show_fps', 'global_light', 'debug_physics_world', 'debug_static_world', 'pstats', 'image_observation', 'image_on_cuda', '_disable_detector_mask', 'rgb_clip', 'force_render_fps', 'force_destroy', 'num_buffering_objects', 'max_distance', '_debug_crash_object', 'horizon', 'max_step_per_agent', 'show_interface_navi_mark', 'show_mouse', 'show_skybox', 'show_terrain', 'show_interface', 'interface_panel', 'show_coordinates', 'multi_thread_render', 'multi_thread_render_mode', 'record_episode', 'replay_episode', 'only_reset_when_replay', 'force_reuse_object_name', 'waymo_data_directory', 'start_scenario_index', 'num_scenarios', 'store_map', 'store_map_buffer_size', 'sequential_seed', 'no_traffic', 'traj_start_index', 'traj_end_index', 'replay', 'no_static_traffic_vehicle', 'use_waymo_observation', 'success_reward', 'out_of_road_penalty', 'crash_vehicle_penalty', 'crash_object_penalty', 'driving_reward', 'speed_reward', 'use_lateral_reward', 'crash_vehicle_cost', 'crash_object_cost', 'out_of_road_cost', 'out_of_route_done', 'crash_vehicle_done', 'relax_out_of_road_done', 'coordinate_transform'])."

How to solve this problem? Thanks for help in advance.

QuanyiLi commented 1 year ago

Please try the training script here: https://github.com/metadriverse/scenarionet/blob/main/scenarionet_training/scripts/train_waymo.py

This is a new one allowing you to train agents with more than large-scale scenarios like (50,000) with a MultiWorkerPPO. You can also use the standard PPO by switching it to PPO

c4cld commented 1 year ago

@QuanyiLi Thank you for your selfless help ^_^ I have run following code to install scenarionet: git clone git@github.com:metadriverse/scenarionet.git cd scenarionet pip install -e . However, when I test scenarionet_training/scripts/train_waymo.py, the following error occurs: ModuleNotFoundError: No module named 'metadrive.envs.gym_wrapper'

I check the https://github.com/metadriverse/metadrive/tree/main/metadrive/envs and find that "gym_wrapper" is not here. How to solve this issue?

QuanyiLi commented 1 year ago

Ah, I think you should git pull the recent metadrive main branch. We have many new features that don't release on PyPI yet. In addition, please use pip install -e .[train] to install the ScenarioNet repo. It will install the training framework together.

c4cld commented 1 year ago

@QuanyiLi Thank you for you guidance! I have installed the recent version of metadrive and ScenarioNet repo. Once I download the waymo dataset, I can run the code. But I dont know which version of waymo dataset need to be downloaded. 1687940076130 Should I download all the data, or is it sufficient to download only the initial version of the data?

QuanyiLi commented 1 year ago

The latest one is ok like 1.1 or 1.2. You can just download a portion of them like one or two files. Each file contains approximately 60 scenarios.

发自我的iPhone

------------------ Original ------------------ From: c4cld @.> Date: Wed, Jun 28, 2023 9:15 AM To: metadriverse/metadrive @.> Cc: Quanyi Li @.>, Mention @.> Subject: Re: [metadriverse/metadrive] How to change the environment used in metadrive/examples/train_generalization_experiment.py? (Issue #461)

@QuanyiLi Thank you for you guidance! I have installed the recent version of metadrive and ScenarioNet repo. Once I download the waymo dataset, I can run the code. But I dont know which version of waymo dataset need to be downloaded.

Should I download all the data, or is it sufficient to download only the initial version of the data?

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: @.***>

c4cld commented 1 year ago

@QuanyiLi I have downloaded two tfrecord files. And I want to use scenarionet/convert_nuscenes.py to convert Waymo tfrecord to Metadrive scenario description, in order to run scenarionet_training/scripts/train_waymo.py.

But when I run scenarionet/convert_nuscenes.py, the following error occurs:

Successfully registered the following environments: ['MetaDrive-validation-v0', 'MetaDrive-10env-v0', 'MetaDrive-100envs-v0', 'MetaDrive-1000envs-v0', 'SafeMetaDrive-validation-v0', 'SafeMetaDrive-10env-v0', 'SafeMetaDrive-100envs-v0', 'SafeMetaDrive-1000envs-v0', 'MARLTollgate-v0', 'MARLBottleneck-v0', 'MARLRoundabout-v0', 'MARLIntersection-v0', 'MARLParkingLot-v0', 'MARLMetaDrive-v0']. INFO:scenarionet.converter.waymo.utils: Reading raw data Traceback (most recent call last): File "/root/anaconda3/envs/scenarionet/lib/python3.8/runpy.py", line 192, in _run_module_as_main return _run_code(code, main_globals, None, File "/root/anaconda3/envs/scenarionet/lib/python3.8/runpy.py", line 85, in _run_code exec(code, run_globals) File "/root/aliyun/scenarionet/scenarionet/convert_waymo.py", line 64, in scenarios = get_waymo_scenarios( File "/root/aliyun/scenarionet/scenarionet/converter/waymo/utils.py", line 434, in get_waymo_scenarios assert len(file_list) >= start_index + num and start_index >= 0, \ AssertionError: No sufficient files (2) in raw_data_directory. need: 1000, start: 0

How should this question be solved? Do I really need to download 1000 files?

QuanyiLi commented 1 year ago

You can find the supported arguments of the script by adding -h flag. And there is one called --num_files which can be used to specify how many files or tf records are in the raw_data_dir. In your case, you can set it to 2 for fixing this issue.

c4cld commented 1 year ago

@QuanyiLi Thank you very much. I set --num_files to 2 and the issue is addressed.

However, scenarionet.converter.waymo.utils seems unable to read the Waymo dataset, with the following error message.

INFO:scenarionet.converter.waymo.utils: Reading raw data INFO:scenarionet.converter.waymo.utils:Use one worker, as num_scenario < num_workers: 0%| | 0/2 [00:00<?, ?it/s] Traceback (most recent call last): File "/root/anaconda3/envs/scenarionet/lib/python3.8/runpy.py", line 192, in _run_module_as_main return _run_code(code, main_globals, None, File "/root/anaconda3/envs/scenarionet/lib/python3.8/runpy.py", line 85, in _run_code exec(code, run_globals) File "/root/aliyun/scenarionet/scenarionet/convert_waymo.py", line 64, in scenarios = get_waymo_scenarios( File "/root/aliyun/scenarionet/scenarionet/converter/waymo/utils.py", line 456, in get_waymo_scenarios all_result = read_from_files([waymo_data_directory, file_list]) File "/root/aliyun/scenarionet/scenarionet/converter/waymo/utils.py", line 481, in read_from_files scenario.ParseFromString(data) google.protobuf.message.DecodeError: Error parsing message with type 'waymo.open_dataset.Scenario'

There is a Q&A involving a similar question to mine, the website is https://github.com/waymo-research/waymo-open-dataset/issues/343. I found that your approach to reading the Waymo dataset is basically the same as the solution in this Q &A. Therefore, I suspect that some of my third-party libraries are of the wrong version. I checked my third-party versions, as shown below.

absl-py 1.4.0 aiohttp 3.6.0 aiohttp-cors 0.7.0 aioredis 2.0.1 aiosignal 1.3.1 ale-py 0.7.5 array-record 0.4.0 astunparse 1.6.3 async-timeout 3.0.1 atari-py 0.2.9 attrs 23.1.0 auditwheel 5.3.0 beautifulsoup4 4.12.2 blessed 1.20.0 cachetools 5.3.1 certifi 2023.5.7 chardet 3.0.4 charset-normalizer 3.1.0 click 8.1.3 click-plugins 1.1.1 cligj 0.7.2 cloudpickle 2.2.1 cmake 3.26.4 colorama 0.4.6 colorful 0.5.5 configparser 5.3.0 contourpy 1.1.0 cycler 0.11.0 dask 2023.3.1 decorator 5.1.1 dm-tree 0.1.8 docker-pycreds 0.4.0 einsum 0.3.0 etils 1.3.0 exceptiongroup 1.1.1 Farama-Notifications 0.0.4 filelock 3.12.2 Fiona 1.9.4.post1 flatbuffers 23.5.26 fonttools 4.40.0 frozenlist 1.3.3 fsspec 2023.6.0 gast 0.4.0 geopandas 0.13.2 gitdb 4.0.10 GitPython 3.1.31 google 3.0.0 google-api-core 2.11.1 google-auth 2.16.2 google-auth-oauthlib 0.4.6 google-pasta 0.2.0 googleapis-common-protos 1.59.1 gpustat 1.1 grpcio 1.56.0 gym 0.25.2 gym-notices 0.0.8 gymnasium 0.28.1 h5py 3.9.0 idna 3.4 imageio 2.31.1 immutabledict 2.2.0 importlib-metadata 6.7.0 importlib-resources 5.12.0 iniconfig 2.0.0 jax 0.4.13 jax-jumpy 1.0.0 Jinja2 3.1.2 joblib 1.3.0 jsonschema 4.17.3 keras 2.11.0 kiwisolver 1.4.4 lazy_loader 0.2 libclang 16.0.0 lit 16.0.6 locket 1.0.0 lxml 4.9.2 lz4 4.3.2 Markdown 3.4.3 MarkupSafe 2.1.3 matplotlib 3.6.1 metadrive-simulator 0.3.0.1 /root/aliyun/metadrive-20230628 ml-dtypes 0.2.0 mpmath 1.3.0 msgpack 1.0.5 multidict 4.7.6 networkx 3.1 numpy 1.21.5 nvidia-cublas-cu11 11.10.3.66 nvidia-cuda-cupti-cu11 11.7.101 nvidia-cuda-nvrtc-cu11 11.7.99 nvidia-cuda-runtime-cu11 11.7.99 nvidia-cudnn-cu11 8.5.0.96 nvidia-cufft-cu11 10.9.0.58 nvidia-curand-cu11 10.2.10.91 nvidia-cusolver-cu11 11.4.0.1 nvidia-cusparse-cu11 11.7.4.91 nvidia-ml-py 11.525.112 nvidia-nccl-cu11 2.14.3 nvidia-nvtx-cu11 11.7.91 oauthlib 3.2.2 opencensus 0.11.2 opencensus-context 0.1.3 opencv-python 4.7.0.72 opencv-python-headless 4.2.0.34 OpenEXR 1.3.9 opt-einsum 3.3.0 packaging 23.1 Panda3D 1.10.13 panda3d-gltf 0.13 panda3d-simplepbr 0.10 pandas 1.5.3 partd 1.4.0 pathtools 0.1.2 Pillow 9.2.0 pip 23.1.2 pkgutil_resolve_name 1.3.10 plotly 5.13.1 pluggy 1.2.0 prometheus-client 0.17.0 promise 2.3 protobuf 3.19.6 psutil 5.9.5 py-spy 0.3.14 pyarrow 10.0.0 pyasn1 0.5.0 pyasn1-modules 0.3.0 pyelftools 0.29 pygame 2.5.0 pyparsing 3.1.0 pyproj 3.5.0 pyrsistent 0.19.3 pytest 7.4.0 python-dateutil 2.8.2 pytz 2023.3 PyWavelets 1.4.1 PyYAML 6.0 ray 1.0.0 redis 3.4.1 requests 2.31.0 requests-oauthlib 1.3.1 rsa 4.9 scenarionet 0.0.1 /root/aliyun/scenarionet scikit-image 0.20.0 scikit-learn 1.2.2 scipy 1.9.1 seaborn 0.12.2 sentry-sdk 1.26.0 setuptools 67.6.0 shapely 2.0.1 shortuuid 1.0.11 six 1.16.0 smmap 5.0.0 soupsieve 2.4.1 subprocess32 3.5.4 sympy 1.12 tabulate 0.9.0 tenacity 8.2.2 tensorboard 2.11.2 tensorboard-data-server 0.6.1 tensorboard-plugin-wit 1.8.1 tensorboardX 2.6 tensorflow 2.11.0 tensorflow-addons 0.20.0 tensorflow-datasets 4.9.0 tensorflow-estimator 2.11.0 tensorflow-graphics 2021.12.3 tensorflow-io-gcs-filesystem 0.32.0 tensorflow-metadata 1.13.0 tensorflow-probability 0.19.0 termcolor 2.3.0 threadpoolctl 3.1.0 tifffile 2023.4.12 toml 0.10.2 tomli 2.0.1 toolz 0.12.0 torch 2.0.1 tqdm 4.65.0 trimesh 3.22.2 triton 2.0.0 typeguard 2.13.3 typing_extensions 4.6.3 tzdata 2023.3 urllib3 1.26.16 wandb 0.12.1 waymo-open-dataset-tf-2.11.0 1.5.0 wcwidth 0.2.6 Werkzeug 2.3.6 wheel 0.38.4 wrapt 1.14.1 yapf 0.30.0 yarl 1.9.2 zipp 3.15.0

Is it because of the wrong version of the third-party library that causes the inability to read the data from the Waymo dataset? If so, how should it be corrected? If not, what could be the cause of the problem?

QuanyiLi commented 1 year ago

Yes, you should install waymo toolkit: pip install waymo-open-dataset-tf-2-11-0==1.5.0. That's weird. I think it will throw an error message, if you don't have this toolkit. Anyway, I will throw this error message to where your bug occurs. Thanks.

c4cld commented 1 year ago

@QuanyiLi Hello, thank you for your help. Now I am able to determine that my problem is caused by the incompatibility between the versions of third-party libraries.

Firstly, I installed a virtual environment by following command. conda create -n scenarionet python==3.8 conda activate scenarionet

Secondly, I switched to the path to ./scenarionet and ran the following command. pip install -e .

Thirdly, I switched to the path to ./metadrive and ran the following command. pip install -e .

Fourthly, I switched to the path to ./scenarionet and tried to convert tfrecord by following command. python -m scenarionet.convert_waymo -d waymo --raw_data_path /path/to/tfrecords --num_workers=16 I received an error message indicating that I should install waymo-open-dataset-tf-2-11-0==1.5.0. So I installed the library by pip install waymo-open-dataset-tf-2-11-0==1.5.0. During the installation process, some versions of third-party libraries were modified.

Then, I tried to convert tfrecord again and received following error message. INFO:scenarionet.converter.waymo.utils: Reading raw data INFO:scenarionet.converter.waymo.utils:Use one worker, as num_scenario < num_workers: 0%| | 0/2 [00:00<?, ?it/s] Traceback (most recent call last): File "/root/anaconda3/envs/scenarionet/lib/python3.8/runpy.py", line 192, in _run_module_as_main return _run_code(code, main_globals, None, File "/root/anaconda3/envs/scenarionet/lib/python3.8/runpy.py", line 85, in _run_code exec(code, run_globals) File "/root/aliyun/scenarionet/scenarionet/convert_waymo.py", line 64, in scenarios = get_waymo_scenarios( File "/root/aliyun/scenarionet/scenarionet/converter/waymo/utils.py", line 456, in get_waymo_scenarios all_result = read_from_files([waymo_data_directory, file_list]) File "/root/aliyun/scenarionet/scenarionet/converter/waymo/utils.py", line 481, in read_from_files scenario.ParseFromString(data) google.protobuf.message.DecodeError: Error parsing message with type 'waymo.open_dataset.Scenario'

Now, when I switch to the path to ./scenarionet and run 'pip install -e .' again, I receive the following errors. ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts. tensorflow 2.11.0 requires protobuf<3.20,>=3.9.2, but you have protobuf 3.20.3 which is incompatible. waymo-open-dataset-tf-2-11-0 1.5.0 requires matplotlib==3.6.1, but you have matplotlib 3.7.1 which is incompatible. waymo-open-dataset-tf-2-11-0 1.5.0 requires numpy==1.21.5, but you have numpy 1.24.2 which is incompatible.

As a result, I am able to determine that my problem is caused by the incompatibility between the versions of third-party libraries. Could you share a setting that ensures codes run properly, including the Python version number and the version numbers of relevant third-party libraries?

QuanyiLi commented 1 year ago

Could you try python 3.9? The rest steps remain the same. This is still a bug from Waymo package and protobuf. Changing to py3.9 allows you to install tf 2.11 and protobuf 3.20

发自我的iPhone

------------------ Original ------------------ From: c4cld @.> Date: Sun, Jul 2, 2023 9:27 AM To: metadriverse/metadrive @.> Cc: Quanyi Li @.>, Mention @.> Subject: Re: [metadriverse/metadrive] How to change the environment used in metadrive/examples/train_generalization_experiment.py? (Issue #461)