Open amir-ramezani-ai opened 4 years ago
Can you try passing the --enable_render
flag to the script?
Thanks for the reply.
It doesn't have any effect on both the rig.py and sim_goal_conditioned.py.
for rig.py there is a show=True which shows the VAE.
I am running the codes on Ubuntu 18, could this be the issue?
I have a similar issue in Ubuntu 16 as well.
In Ubuntu16 when I am trying to sim policy I get the following error:
~/rlkit-0.1.2$ python3.6 scripts/sim_goal_conditioned_policy.py /home/caias2/rlkit-0.1.2/data/09-10-rlkit-pusher-rig-example/09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092/params.pkl
pygame 1.9.6
Hello from the pygame community. https://www.pygame.org/contribute.html
Traceback (most recent call last):
File "scripts/sim_goal_conditioned_policy.py", line 62, in <module>
simulate_policy(args)
File "scripts/sim_goal_conditioned_policy.py", line 14, in simulate_policy
policy = data['policy']
TypeError: 'ConvVAE' object is not subscriptable
gym version: '0.10.5' mujoco version: 1.5 mujoco path: ~/.mujuco/
and for mujoco I can run the simulate file and drag and drop the humanoid (so I guess the license is fine)
is there any other package I need to check?
the output of running pusher/rig.py
is like:
bug/MSE improvement over random Min -0.00426958
2020-09-10 14:42:18.153028 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of random decoding Mean 0.0180728
2020-09-10 14:42:18.153082 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of random decoding Std 0.0715821
2020-09-10 14:42:18.153135 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of random decoding Max 0.999998
2020-09-10 14:42:18.153189 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of random decoding Min 0
2020-09-10 14:42:18.153243 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of reconstruction 0.0121482
2020-09-10 14:42:18.153297 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] test/Log Prob -12456.6
2020-09-10 14:42:18.153351 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] test/KL 27.5673
2020-09-10 14:42:18.153406 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] test/loss 12458.8
2020-09-10 14:42:18.153459 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] beta 0.078125
2020-09-10 14:42:18.153497 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] -------------------------------------- ---------------
2020-09-10 14:42:20.276780 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] -------------------------------------- ---------------
2020-09-10 14:42:20.276884 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] train/epoch 296
2020-09-10 14:42:20.276951 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] train/Log Prob -12354.6
2020-09-10 14:42:20.277004 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] train/KL 34.2708
2020-09-10 14:42:20.277053 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] train/loss 12357.2
2020-09-10 14:42:20.277090 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE improvement over random Mean 0.0136384
2020-09-10 14:42:20.277124 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE improvement over random Std 0.00382455
2020-09-10 14:42:20.277157 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE improvement over random Max 0.0223958
2020-09-10 14:42:20.277190 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE improvement over random Min 0.00449176
2020-09-10 14:42:20.277223 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of random decoding Mean 0.017403
2020-09-10 14:42:20.277255 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of random decoding Std 0.0822392
2020-09-10 14:42:20.277288 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of random decoding Max 1
2020-09-10 14:42:20.277321 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of random decoding Min 0
2020-09-10 14:42:20.277353 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] debug/MSE of reconstruction 0.00376459
2020-09-10 14:42:20.277386 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] test/Log Prob -12465
2020-09-10 14:42:20.277427 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] test/KL 27.2501
2020-09-10 14:42:20.277461 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] test/loss 12467.1
2020-09-10 14:42:20.277494 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] beta 0.078125
2020-09-10 14:42:20.277527 KST | [09-10-rlkit-pusher-rig-example_2020_09_10_14_32_15_0000--s-65092] -------------------------------------- ---------------
Update:
in Ubuntu16 I face the following errors:
RuntimeError: Window rendering not supported
after adding the following to .bashrc:
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so:/usr/lib/nvidia-384/libGL.so
I get this error:
RuntimeError: Failed to initialize OpenGL
in Ubuntu18 I face the following error:
14 2.718439817428589
15 2.730947256088257
16 2.675100564956665
17 2.719597101211548
Traceback (most recent call last):
File "examples/rig/pusher/rig.py", line 92, in <module>
use_gpu=True, # Turn on if you have a GPU
File "/home/caias18/rlkit-0.1.2/rlkit/launchers/launcher_util.py", line 585, in run_experiment
**run_experiment_kwargs
File "/home/caias18/rlkit-0.1.2/rlkit/launchers/launcher_util.py", line 166, in run_experiment_here
return experiment_function(variant)
File "/home/caias18/rlkit-0.1.2/rlkit/launchers/rig_experiments.py", line 41, in grill_her_td3_full_experiment
grill_her_td3_experiment(variant['grill_variant'])
File "/home/caias18/rlkit-0.1.2/rlkit/launchers/rig_experiments.py", line 363, in grill_her_td3_experiment
algorithm.train()
File "/home/caias18/rlkit-0.1.2/rlkit/core/rl_algorithm.py", line 143, in train
self.train_online(start_epoch=start_epoch)
File "/home/caias18/rlkit-0.1.2/rlkit/core/rl_algorithm.py", line 173, in train_online
self._end_epoch(epoch)
File "/home/caias18/rlkit-0.1.2/rlkit/core/rl_algorithm.py", line 325, in _end_epoch
post_epoch_func(self, epoch)
File "/home/caias18/rlkit-0.1.2/rlkit/launchers/rig_experiments.py", line 537, in save_video
kwargs=dump_video_kwargs
File "/home/caias18/rlkit-0.1.2/rlkit/launchers/rig_experiments.py", line 558, in temporary_mode
return_val = func(*args, **kwargs)
File "/home/caias18/rlkit-0.1.2/rlkit/util/video.py", line 76, in dump_video
(N, horizon + 1, H + 2 * pad_length, W + 2 * pad_length, num_channels))
ValueError: cannot reshape array of size 114307200 into shape (18,101,252,84,3)
any idea how to fix these?
There are two "horizon + 1". You can simply change them to "horizon" to make rig.py run. I don't know why. It just works.
Thanks for your repository.
I am trying to train RIG using the following command:
~/rlkit-0.1.2$ python3.6 examples/rig/pusher/rig.py
the training proceeds, but can I visualize it as well?and trying to run the trained policy using the following command:
~/rlkit-0.1.2$ python3.6 scripts/sim_goal_conditioned_policy.py /home/caias18/rlkit-0.1.2/data/09-08-rlkit-pusher-rig-example/09-08-rlkit-pusher-rig-example_2020_09_08_13_43_34_0000--s-47482/params.pkl
however, at the run time, the mujoco window is black (please check the following image): https://drive.google.com/file/d/1bE7fNQn6xS2xJcbdqdG75EUgSNJ2hWEf/view?usp=sharingAppreciate your guide.