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Bug #24
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Can you provide more details? -- Is the error deterministic? What iteration did it occur at? |
@cbfinn It is deterministic.It occurs at first iteration. |
Ok. Unfortunately, I don't have time to look into this right now because of I'll be able to look into it after May 25 (unless the issue hasn't been @cbfinn https://github.com/cbfinn It is deterministic.It occurs at first — |
I have come across this error as well, is there any solution? |
Fixed in this PR: #30 |
Finished config for lg initialization
Running this code
python python/gps/gps_main.py box2d_badmm_example
;In the Calculating step,there has error below:/home/prafly/desktop/gps/python/gps/algorithm/policy_opt/policy_opt_caffe.py:140: RuntimeWarning: divide by zero encountered in divide
self.policy.scale = np.diag(1.0 / np.std(obs, axis=0))
I0511 10:33:26.268626 17880 solver.cpp:341] Iteration 0, Testing net (#0)
I0511 10:33:26.268664 17880 net.cpp:748] Ignoring source layer Python4
I0511 10:33:26.268708 17880 solver.cpp:409] Test net output #0: InnerProduct3 = 0.000162208
I0511 10:33:26.268729 17880 solver.cpp:409] Test net output #1: InnerProduct3 = -0.00041328
I0511 10:33:26.268740 17880 solver.cpp:341] Iteration 0, Testing net (#1)
I0511 10:33:26.268748 17880 net.cpp:748] Ignoring source layer Python1
I0511 10:33:26.268760 17880 net.cpp:748] Ignoring source layer Python4
I0511 10:33:26.268780 17880 solver.cpp:409] Test net output #0: InnerProduct3 = 0
I0511 10:33:26.268792 17880 solver.cpp:409] Test net output #1: InnerProduct3 = 0
I0511 10:33:29.947541 17880 net.cpp:748] Ignoring source layer Python4
I0511 10:33:29.948006 17880 net.cpp:748] Ignoring source layer Python4
I0511 10:33:30.041903 17880 net.cpp:748] Ignoring source layer Python4
/home/prafly/desktop/gps/python/gps/utility/gmm.py:202: RuntimeWarning: invalid value encountered in less
w[:, (self.mass < (1.0 / K) * 1e-4)[:, 0]] = 1.0 / N
Exception in thread Thread-2:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 763, in run
self.__target(_self.__args, *_self.__kwargs)
File "python/gps/gps_main.py", line 369, in
target=lambda: gps.run(itr_load=resume_training_itr)
File "python/gps/gps_main.py", line 67, in run
self._take_iteration(itr, traj_sample_lists)
File "python/gps/gps_main.py", line 195, in _take_iteration
self.algorithm.iteration(sample_lists)
File "/home/prafly/desktop/gps/python/gps/algorithm/algorithm_badmm.py", line 59, in iteration
self._update_policy_fit(m) # Update policy priors.
File "/home/prafly/desktop/gps/python/gps/algorithm/algorithm_badmm.py", line 180, in _update_policy_fit
SampleList(self.cur[m].pol_info.policy_samples)
File "/home/prafly/desktop/gps/python/gps/algorithm/policy/policy_prior_gmm.py", line 83, in update
self.gmm.update(XU, K)
File "/home/prafly/desktop/gps/python/gps/utility/gmm.py", line 174, in update
logobs = self.estep(data)
File "/home/prafly/desktop/gps/python/gps/utility/gmm.py", line 75, in estep
check_finite=False)
File "/usr/lib/python2.7/dist-packages/scipy/linalg/decomp_cholesky.py", line 81, in cholesky
check_finite=check_finite)
File "/usr/lib/python2.7/dist-packages/scipy/linalg/decomp_cholesky.py", line 30, in _cholesky
raise LinAlgError("%d-th leading minor not positive definite" % info)
LinAlgError: 1-th leading minor not positive definite
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