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Re-create Figure 6 in "Safe Learning in Robotics" errors

See original GitHub issue

Hey Jacopo,

Thanks for the great review paper and open sourcing the accompanying codes here.

I would like to reproduce Figure 6 by following commands but got error messages after successfully loading five GP models as

#########################################
#       Loading GP dimension 5         #
#########################################
Path: ./trained_gp_model/best_model_5.pth
Loaded!
Traceback (most recent call last):
  File "./gp_mpc_experiment.py", line 179, in <module>
    ctrl.learn()
  File "/home/jwang/Control_ws/src/safe-control-gym/safe_control_gym/controllers/mpc/gp_mpc.py", line 809, in learn
    self.reset()
  File "/home/jwang/Control_ws/src/safe-control-gym/safe_control_gym/controllers/mpc/gp_mpc.py", line 899, in reset
    self.setup_gp_optimizer(n_ind_points)
  File "/home/jwang/Control_ws/src/safe-control-gym/safe_control_gym/controllers/mpc/gp_mpc.py", line 562, in setup_gp_optimizer
    mean_post_factor_val, Sigma, K_zind_zind_inv, z_ind_val = self.precompute_sparse_gp_values(n_ind_points)
  File "/home/jwang/Control_ws/src/safe-control-gym/safe_control_gym/controllers/mpc/gp_mpc.py", line 394, in precompute_sparse_gp_values
    inds, dist_mat = pairwise_distances_argmin_min(centroids, inputs[:, self.input_mask])
  File "/home/jwang/anaconda3/envs/safe/lib/python3.8/site-packages/sklearn/metrics/pairwise.py", line 680, in pairwise_distances_argmin_min
    values, indices = PairwiseDistancesArgKmin.compute(
  File "sklearn/metrics/_pairwise_distances_reduction.pyx", line 672, in sklearn.metrics._pairwise_distances_reduction.PairwiseDistancesArgKmin.compute
  File "sklearn/metrics/_pairwise_distances_reduction.pyx", line 1055, in sklearn.metrics._pairwise_distances_reduction.FastEuclideanPairwiseDistancesArgKmin.__init__
  File "sklearn/metrics/_dist_metrics.pyx", line 1300, in sklearn.metrics._dist_metrics.DatasetsPair.get_for
  File "sklearn/metrics/_dist_metrics.pyx", line 1349, in sklearn.metrics._dist_metrics.DenseDenseDatasetsPair.__init__
  File "stringsource", line 658, in View.MemoryView.memoryview_cwrapper
  File "stringsource", line 349, in View.MemoryView.memoryview.__cinit__
ValueError: ndarray is not C-contiguous

I wonder if you could help with this? Thank you.

Regards, Jie

Issue Analytics

State:
Created a year ago
Comments:15 (10 by maintainers)

Top GitHub Comments

1reaction

JacopoPancommented, Jul 14, 2022

https://arxiv.org/abs/2109.06325 (it is now officially an IROS/RA-L paper)

1reaction

jwangjiecommented, Jul 13, 2022

@adamhall The plot looks pretty much the same as this one with both the existing and retrained models.

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