Training cannot proceed

[xueshuo123]

Your work is excellent, and I am very interested in it. However, when reproducing it, it has been stuck at 0 iterations and cannot proceed further. Do you know the reason? thank you

(SDS) b101-8-3090@8-3090:~/xueshuoopt/SDS/SDS$ python sds.py task=[bound,hop,pace,trot]
[2024-11-22 17:12:04,055][root][INFO] - Workspace: /home/b101-8-3090/xueshuoopt/SDS/SDS/outputs/sds/2024-11-22_17-12-04
[2024-11-22 17:12:04,055][root][INFO] - Project Root: /home/b101-8-3090/xueshuoopt/SDS/SDS
[2024-11-22 17:12:04,055][root][INFO] - Running for 5 iterations
[2024-11-22 17:12:04,055][root][INFO] - Training each RF for: 1000 iterations
[2024-11-22 17:12:04,055][root][INFO] - Generating 8 reward function samples per iteration
[2024-11-22 17:12:04,055][root][INFO] - Using LLM: gpt-4o
[2024-11-22 17:12:04,055][root][INFO] - Imitation Task: Quadruped Robot Trotting
[2024-11-22 17:12:04,055][root][INFO] - Demonstration Video: trot.mp4, Crop Option: None
[2024-11-22 17:12:16,769][agents][INFO] - Activated Agent SUSGenerator
[2024-11-22 17:12:16,769][agents][INFO] - Activated Agent TaskDescriptor
[2024-11-22 17:12:39,012][agents][INFO] - Activated Agent ContactSequenceAnalyser
[2024-11-22 17:13:21,584][agents][INFO] - Activated Agent GaitAnalyser
[2024-11-22 17:13:38,650][agents][INFO] - Activated Agent TaskRequirementAnalyser
[2024-11-22 17:13:58,834][root][INFO] - Iteration 0: Generating 8 samples with gpt-4o
[2024-11-22 17:14:58,631][root][INFO] - Iteration 0: Prompt Tokens: 3117, Completion Tokens: 5128, Total Tokens: 11362
[2024-11-22 17:14:58,631][root][INFO] - Iteration 0: Processing Code Run 0

[HaoGeDiao]

ML_LOGGER_USER is not set. This is required for online usage.
creating new logging client...
✓ created a new logging client
Dashboard: http://app.dash.ml/forward_locomotion_sds/2024-12-23/train/120146.038554
Log_directory: /home/wth/SDS/forward_locomotion_sds/runs
Importing module 'gym_38' (/home/wth/SDS/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/wth/SDS/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
PyTorch version 2.4.0+cu121
Device count 1
/home/wth/SDS/isaacgym/python/isaacgym/_bindings/src/gymtorch
Using /root/.cache/torch_extensions/py38_cu121 as PyTorch extensions root...
Emitting ninja build file /root/.cache/torch_extensions/py38_cu121/gymtorch/build.ninja...
Building extension module gymtorch...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
ninja: no work to do.
Loading extension module gymtorch...
Training on 4000 environments
Running with headless and no recording, disabled graphics rendering
[Warning] [carb.gym.plugin] useGpuPipeline is set, forcing GPU PhysX
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:0
GPU Pipeline: enabled
Traceback (most recent call last):
File "/home/wth/SDS/SDS/../forward_locomotion_sds/scripts/train.py", line 120, in
train_mc(iterations=args.iterations, command_config=args.command_config, reward_config=args.reward_config, dr_config=args.dr_config, sds_target_velocity=args.sds_target_velocity,
File "/home/wth/SDS/SDS/../forward_locomotion_sds/scripts/train.py", line 61, in train_mc
env = VelocityTrackingEasyEnv(sim_device='cuda:0', headless=headless, cfg=Cfg)
File "/home/wth/SDS/forward_locomotion_sds/go1_gym/envs/mini_cheetah/velocity_tracking/velocity_tracking_easy_env.py", line 40, in init
super().init(cfg, sim_params, physics_engine, sim_device, headless, eval_cfg, initial_dynamics_dict)
File "/home/wth/SDS/forward_locomotion_sds/go1_gym/envs/base/legged_robot.py", line 54, in init
self._prepare_reward_function()
File "/home/wth/SDS/forward_locomotion_sds/go1_gym/envs/base/legged_robot.py", line 1171, in _prepare_reward_function
_, reward_components = self.reward_container.compute_reward()
File "/home/wth/SDS/forward_locomotion_sds/go1_gym/rewards/sds_reward.py", line 23, in compute_reward
velocity_reward = torch.exp(-torch.square(self.base_lin_vel[:, 0] - desired_velocity))
AttributeError: 'SDSReward' object has no attribute 'base_lin_vel'