daffan / ros_jackal Goto Github PK
View Code? Open in Web Editor NEWROS-Jackal environment for RL
License: MIT License
ROS-Jackal environment for RL
License: MIT License
Issue Description:
I am trying to pull a Singularity image from the URL library://zifanxu/ros_jackal_image/image:latest, but I am encountering issues. When I search for this image using Singularity, it appears not to be available for the amd64 architecture.
thank you,
R.
hello,what the BUFFER_PATH in the code means? how to set it?
Hi. Unfortunately, I had a problem installing the requirements.
When installing the Transformers library version 4.11, I encounter the following problem:
ERROR: Failed building wheel for tokenizers
Failed to build tokenizers
ERROR: Could not build wheels for tokenizers, which is required to install pyproject.toml-based projects
Hello, Dr. Xu, when we tried to train TD3 using the applr_working branch of your code, we found that the training configurations were missing. There is no td3/config.yaml file under the td3 file, so I would be grateful if you could provide it generously.
Hi! I'm trying to reproduce your work with a Docker environment.
I'm sure that I set the workspace and configurations correctly.
But when I try the command below,
./singularity_run.sh ./local_buffer/nav_benchmark.sif python3 test_env.py
I get the following error:
INFO: Converting SIF file to temporary sandbox...
FATAL: while handling ./local_buffer/nav_benchmark.sif: while extracting image: root filesystem extraction failed: extract command failed: ERROR : Failed to create user namespace: user namespace requires to set /proc/sys/kernel/unprivileged_userns_clone to 1
: exit status 1
How can I fix this FATAL error?
Thank you for your attention!
I tried to build the image using the Singularityfile.def file, producing a nav_competetion_image.sif, but with the command ./singularity_run.sh ./local_buffer/nav_competition_image.sif python train.py --config configs/e2e_default_TD3.yaml
, the printed info is as followed:
(base) jidan@jidan:~/AVWorkSpace/jackal_ws/src/ros_jackal$ ./singularity_run.sh ./nav_competition_image.sif python train.py --config configs/e2e_default_TD3.yaml
/venv/lib/python3.6/site-packages/gym/core.py:27: UserWarning: WARN: Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+
"Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+"Loading the configuration from configs/e2e_default_TD3.yaml
Creating the environments
/venv/lib/python3.6/site-packages/gym/spaces/box.py:127: UserWarning: WARN: Box bound precision lowered by casting to float32
logger.warn(f"Box bound precision lowered by casting to {self.dtype}")
Initializing the policy
>>>> Running on device cuda:0
/venv/lib/python3.6/site-packages/torch/cuda/init.py:143: UserWarning:
NVIDIA GeForce RTX 3050 Ti Laptop GPU with CUDA capability sm_86 is not compatible with the current PyTorch installation.
The current PyTorch install supports CUDA capabilities sm_37 sm_50 sm_60 sm_70.
If you want to use the NVIDIA GeForce RTX 3050 Ti Laptop GPU GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/warnings.warn(incompatible_device_warn.format(device_name, capability, " ".join(arch_list), device_name))
Start training
>>>> Saving to logging/motion_control_continuous_laser-v0/TD3/2024_03_19_12_40/9933
>>>> initialized logging
>>>> Pre-collect experience
multiprocessing.pool.RemoteTraceback:
"""
Traceback (most recent call last):
File "/usr/lib/python3.6/multiprocessing/pool.py", line 119, in worker
result = (True, func(*args, **kwds))
File "/usr/lib/python3.6/multiprocessing/pool.py", line 44, in mapstar
return list(map(*args))
File "/jackal_ws/src/ros_jackal/rl_algos/collector.py", line 27, in run_actor_in_container
options=["-i", "-n", "--network=none", "-p"], nv=True
File "/venv/lib/python3.6/site-packages/spython/main/execute.py", line 116, in execute
environ=environ,
File "/venv/lib/python3.6/site-packages/spython/main/base/command.py", line 142, in run_command
background=background,
File "/venv/lib/python3.6/site-packages/spython/utils/terminal.py", line 197, in run_command
process = subprocess.Popen(cmd, stderr=subprocess.PIPE, stdout=stdout, env=environ)
File "/usr/lib/python3.6/subprocess.py", line 729, in init
restore_signals, start_new_session)
File "/usr/lib/python3.6/subprocess.py", line 1364, in _execute_child
raise child_exception_type(errno_num, err_msg, err_filename)
FileNotFoundError: [Errno 2] No such file or directory: 'singularity': 'singularity'
"""The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "train.py", line 311, in
train(env, policy, replay_buffer, config)
File "train.py", line 221, in train
collector.collect(n_steps=training_config['pre_collect'])
File "/jackal_ws/src/ros_jackal/rl_algos/collector.py", line 178, in collect
output = p.map(run_actor_in_container, self.ids)
File "/usr/lib/python3.6/multiprocessing/pool.py", line 266, in map
return self._map_async(func, iterable, mapstar, chunksize).get()
File "/usr/lib/python3.6/multiprocessing/pool.py", line 644, in get
raise self._value
FileNotFoundError: [Errno 2] No such file or directory: 'singularity': 'singularity'
I am new to singularity container, can someone gives me a hint? I also want to know the difference between the image built by the Singularityfile.def and the image pulled using the command, and how they coordinate. Thanks a lot.
code in collector.py (line 58、59、68),should not "obs = obs_new"(line 59) be placed after "self.buffer.add"(line 68)? Otherwise, buffer.add(obs_new, act, obs_new, rew, done, world, collision_reward), not buffer.add(obs, act, obs_new, rew, done, world, collision_reward)
Hi, I'd like to know how long it takes to achieve the results mentioned in your article with the yaml
under the configs
folder?
Because the singularity image is not pulled from #5 (comment),
I changed "config/e2e_default_TD3.yaml" file to this
env_config:
use_container: False
world_name: "BARN/world_450.world"
gui: True
It creates walls but no stationary or moving boxes or walls.
How can I run the benchmark environment without Singularity container?
Hi, thanks for sharing this great work
I have a question , how can i move the objects (humen , obstackes..) in gazebo environement ?
Project name is zifanxu not zifan in the singularity image pull step
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.