Error when running python -m omnigibson.examples.learning.navigation_policy_demo

[ge79puv]

Hey there,

I just used Isaac Sim 4.1.0 and the new released OmniGibson v 1.1.1. I tried to run the demo of RL. However, there is an error:

Could you help me to solve this issue?

Best regards

[ChengshuLi]

Could you let us know the version of gymnasium?

[ge79puv]

0.29.1

[ChengshuLi]

Hmm I am actually not able to reproduce your issue. The example ran okay on my side (also OG 1.1.1 and Isaac Sim 4.1). Maybe you can take a closer look at obs.spaces? If it's not OrderedDict, what is it?

For your reference,

>>> import gymnasium
>>> gymnasium
<module 'gymnasium' from '/path/to/isaac/isaac-sim-4.1.0/exts/omni.isaac.ml_archive/pip_prebundle/gymnasium/__init__.py'>
>>> gymnasium.__version__
'0.28.1'

My gymnasium version is lower. Are you using gymnasium shipped with Isaac?

[ge79puv]

I downgrade my gymnasium version, now it works. Thanks a lot!

[ge79puv]

Hi,

this omnigibson.examples.learning.navigation_policy_demo sometimes runs fine, but sometimes it suddenly terminates after running for a while. I have not modified any source code, and the error message is as follows:

I cannot understand why the tensors are loaded on two gpus. And this termination is uncertain. Sometimes this error appears at the beginning, and sometimes it appears after running for a period of time, which makes me unable to complete the entire RL training.

Best regards

[ChengshuLi]

I think the problem is that the neural network weights sit on one GPU and the observation you get from the environment (e.g. a RGB image tensor) sits on another GPU. You can try to make the policy model to sit on the same GPU as OmniGibson.

[ge79puv]

Yes, you are right. I manually set the device of PPO model, then this error never appears. Thanks for your help!

[ge79puv]

Another interesting phenomenon is that, when run a demo, after a while, the demo will terminate without any specific instruction, just a "Fatal Python error: Segmentation fault". Do you know how can I fix that?

[ChengshuLi]

I think this should be safe to ignore. This happens when we didn't gracefully terminate Isaac (by calling og.shutdown()). We will make sure to add proper shutdown for all our examples in the next release. Thanks!