Crash while recording stats with PilotNet (TF) model on Montreal circuit

[nik1806]

I got the following output on terminal, after I press stats record button:

[INFO]  Successfully created the data folder ./perfect_bags/lap-simple-circuit.
[INFO]  Successfully created the data folder 20220724-104639.

20: * Completed distance ---> 121.45998400581293
20: * Average speed ---> 7.144704941518407

/root/BehaviorMetrics/behavior_metrics/utils/metrics.py:321: RuntimeWarning: overflow encountered in double_scalars
  min_dists.append(1000 ** min_dist)

20: Unexpected Behavior: Converging to same point
20: * Position deviation MAE ---> inf
20: * Position deviation total error ---> inf
20: Lap not completed
20: * Experiment total simulated time ---> 17.0
20: * Mean network inference time ---> 0.11231924032236075s
20: * Frame rate ---> 49.76470588235294fps

Traceback (most recent call last):
  File "/root/BehaviorMetrics/behavior_metrics/ui/gui/views/toolbar.py", line 255, in mousePressEvent
    self.parent.stop_recording_stats()
  File "/root/BehaviorMetrics/behavior_metrics/ui/gui/views/toolbar.py", line 597, in stop_recording_stats
    self.controller.stop_recording_metrics()
  File "/root/BehaviorMetrics/behavior_metrics/utils/controller.py", line 230, in stop_recording_metrics
    self.experiment_metrics, first_image = self.pilot.calculate_metrics(self.experiment_metrics)
  File "/root/BehaviorMetrics/behavior_metrics/pilot.py", line 233, in calculate_metrics
    brain_iterations_frequency_simulated_time = 1 / mean_brain_iterations_simulated_time
ZeroDivisionError: float division by zero

Aborted (core dumped)

[nik1806]

I got the same error message when using Dynamic quantized model. With different statistics as:

20: * Completed distance ---> 122.3431087018863
20: * Average speed ---> 8.738793478706164
20: * Position deviation MAE ---> inf
20: * Position deviation total error ---> inf
20: Lap not completed
20: * Experiment total simulated time ---> 14.0
20: * Mean network inference time ---> 0.010323523823680774s
20: * Frame rate ---> 58.92857142857143fps

[nik1806]

I found the solution. We have to change the PerfectLap argument in the config file, for each circuit. The available options are present in BehaviorMetrics/behavior_metrics/perfect_bags/ directory.