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modanesh / LEADER

Author implementation of the LEADER algorithm: integrating learning and planning to have safer agents
https://openreview.net/forum?id=DE8rdNuGj_7
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POMDP Planning Fails #1

Open Jarvis-K opened 1 year ago

Jarvis-K commented 1 year ago

Hi, I am running the training script. However, the ego car just keep still and the pomdp planner seems not working.

s = rospy.Service('adding_value', ValueService, lambda msg: handle_value(msg, socket))
print_flush("[attention_planner_training.py] episode successfully ended")
pomdp_proc.wait(timeout=int(config.eps_length / config.time_scale))
print_flush("[attention_planner_training.py] episode successfully ended")

The second print never comes out.

I have tried adapting the ego vehicle to use the gamma setting and doing so appears to resolve the issue. However, I would like to find a more permanent and reliable solution for the problem. Does anyone have any suggestions for what might be causing this issue and how it might be resolved? Thank you for your time, and I look forward to your response.

Jarvis-K commented 1 year ago

The pyro.log is shown below.

[2023-04-21 15:29:43.285,Pyro4,INFO] Pyro log configured using built-in defaults, level=DEBUG
[2023-04-21 15:29:43.288,Pyro4.core,DEBUG] exposing all members of <class 'Pyro4.core.DaemonObject'>
[2023-04-21 15:29:43.294,Pyro4.core,DEBUG] exposing all members of <class 'gamma_crowd.CrowdService'>
[2023-04-21 15:29:49.113,Pyro4.threadpoolserver,INFO] starting thread pool socketserver
[2023-04-21 15:29:49.113,Pyro4.threadpoolserver,INFO] not using SSL
[2023-04-21 15:29:49.115,Pyro4.threadpool,DEBUG] worker pool created with initial size 4
[2023-04-21 15:29:49.116,Pyro4.core,DEBUG] daemon created on localhost:8100 - IPv4 (pid 2676750)
[2023-04-21 15:29:49.116,Pyro4.core,DEBUG] accepted serializers: {'serpent', 'json', 'marshal'}
[2023-04-21 15:29:49.116,Pyro4.core,DEBUG] pyro protocol version: 48  pickle version: 5
[2023-04-21 15:29:49.116,Pyro4.core,INFO] daemon localhost:8100 entering requestloop
[2023-04-21 15:29:49.116,Pyro4.threadpoolserver,DEBUG] threadpool server requestloop
[2023-04-21 15:29:50.914,Pyro4.threadpoolserver,DEBUG] connected ('127.0.0.1', 60838) - unencrypted
[2023-04-21 15:29:50.914,Pyro4.threadpool,DEBUG] worker counts: 1 busy, 3 idle
[2023-04-21 15:29:50.915,Pyro4.core,DEBUG] instancemode single: creating new pyro object for <class 'gamma_crowd.CrowdService'>
[2023-04-21 15:29:50.949,Pyro4.threadpoolserver,DEBUG] connected ('127.0.0.1', 60844) - unencrypted
[2023-04-21 15:29:50.949,Pyro4.threadpool,DEBUG] worker counts: 2 busy, 2 idle
[2023-04-21 15:29:52.139,Pyro4.core,DEBUG] getting metadata for object crowdservice.warehouse
[2023-04-21 15:29:52.139,Pyro4.core,DEBUG] connecting to PYRO:crowdservice.warehouse@localhost:8100
[2023-04-21 15:29:52.141,Pyro4.threadpoolserver,DEBUG] connected ('127.0.0.1', 60846) - unencrypted
[2023-04-21 15:29:52.141,Pyro4.threadpool,DEBUG] worker counts: 3 busy, 1 idle
[2023-04-21 15:29:52.142,Pyro4.core,DEBUG] from meta: methods=['acquire_control_velocities', 'acquire_destroy_list', 'acquire_local_intentions', 'acquire_new_bikes', 'acquire_new_cars', 'acquire_new_pedestrians', 'append_destroy_list', 'append_new_bikes', 'append_new_cars', 'append_new_pedestrians', 'extend_destroy_list', 'release_control_velocities', 'release_destroy_list', 'release_local_intentions', 'release_new_bikes', 'release_new_cars', 'release_new_pedestrians'], oneway methods=[], attributes=['control_velocities', 'destroy_list', 'forbidden_bounds', 'local_intentions', 'new_bikes', 'new_cars', 'new_pedestrians', 'simulation_bounds', 'spawn_bike', 'spawn_car', 'spawn_pedestrian']
[2023-04-21 15:29:52.142,Pyro4.core,DEBUG] connected to PYRO:crowdservice.warehouse@localhost:8100 - IPv4 - unencrypted
[2023-04-21 15:29:52.142,Pyro4.core,DEBUG] reusing existing metadata
[2023-04-21 15:29:52.143,Pyro4.core,DEBUG] getting metadata for object crowdservice.warehouse
[2023-04-21 15:29:52.143,Pyro4.core,DEBUG] connecting to PYRO:crowdservice.warehouse@localhost:8100
[2023-04-21 15:29:52.145,Pyro4.threadpoolserver,DEBUG] connected ('127.0.0.1', 60860) - unencrypted
[2023-04-21 15:29:52.145,Pyro4.threadpool,DEBUG] worker counts: 4 busy, 0 idle
[2023-04-21 15:29:52.146,Pyro4.core,DEBUG] from meta: methods=['acquire_control_velocities', 'acquire_destroy_list', 'acquire_local_intentions', 'acquire_new_bikes', 'acquire_new_cars', 'acquire_new_pedestrians', 'append_destroy_list', 'append_new_bikes', 'append_new_cars', 'append_new_pedestrians', 'extend_destroy_list', 'release_control_velocities', 'release_destroy_list', 'release_local_intentions', 'release_new_bikes', 'release_new_cars', 'release_new_pedestrians'], oneway methods=[], attributes=['control_velocities', 'destroy_list', 'forbidden_bounds', 'local_intentions', 'new_bikes', 'new_cars', 'new_pedestrians', 'simulation_bounds', 'spawn_bike', 'spawn_car', 'spawn_pedestrian']
[2023-04-21 15:29:52.146,Pyro4.core,DEBUG] connected to PYRO:crowdservice.warehouse@localhost:8100 - IPv4 - unencrypted
[2023-04-21 15:29:52.146,Pyro4.core,DEBUG] reusing existing metadata
[2023-04-21 15:29:52.147,Pyro4.core,DEBUG] getting metadata for object crowdservice.warehouse
[2023-04-21 15:29:52.147,Pyro4.core,DEBUG] connecting to PYRO:crowdservice.warehouse@localhost:8100
[2023-04-21 15:29:52.149,Pyro4.threadpoolserver,DEBUG] connected ('127.0.0.1', 60868) - unencrypted
[2023-04-21 15:29:52.149,Pyro4.threadpool,DEBUG] worker counts: 5 busy, 0 idle
[2023-04-21 15:29:52.150,Pyro4.core,DEBUG] from meta: methods=['acquire_control_velocities', 'acquire_destroy_list', 'acquire_local_intentions', 'acquire_new_bikes', 'acquire_new_cars', 'acquire_new_pedestrians', 'append_destroy_list', 'append_new_bikes', 'append_new_cars', 'append_new_pedestrians', 'extend_destroy_list', 'release_control_velocities', 'release_destroy_list', 'release_local_intentions', 'release_new_bikes', 'release_new_cars', 'release_new_pedestrians'], oneway methods=[], attributes=['control_velocities', 'destroy_list', 'forbidden_bounds', 'local_intentions', 'new_bikes', 'new_cars', 'new_pedestrians', 'simulation_bounds', 'spawn_bike', 'spawn_car', 'spawn_pedestrian']
[2023-04-21 15:29:52.150,Pyro4.core,DEBUG] connected to PYRO:crowdservice.warehouse@localhost:8100 - IPv4 - unencrypted
[2023-04-21 15:29:52.150,Pyro4.core,DEBUG] reusing existing metadata
[2023-04-21 15:30:05.779,Pyro4.threadpoolserver,DEBUG] disconnected ('127.0.0.1', 60844)
[2023-04-21 15:30:05.780,Pyro4.threadpool,DEBUG] worker counts: 4 busy, 1 idle
[2023-04-21 15:30:05.788,Pyro4.threadpoolserver,DEBUG] disconnected ('127.0.0.1', 60838)
[2023-04-21 15:30:05.788,Pyro4.threadpool,DEBUG] worker counts: 3 busy, 2 idle
[2023-04-21 15:30:06.625,Pyro4.core,DEBUG] connection released
[2023-04-21 15:30:06.626,Pyro4.core,DEBUG] connection released
[2023-04-21 15:30:06.647,Pyro4.core,DEBUG] connection released
[2023-04-21 15:30:10.805,rospy.core,INFO] signal_shutdown [atexit]