Error when trying to run baseline agent

[SaundersJE97]

Thank you for this great repository. I'm having an issue when trying to run the baseline agent. I'm not sure if it's a bug or an issue on my end. Any help would be greatly appreciated.

Steps to recreate
$ conda create --name BLEnv python==3.9
$ python3 -m pip install balloon_learning_environment
$ python -m balloon_learning_environment.eval.eval --agent=station_seeker --renderer=matplotlib --suite=micro_eval --output_dir=/tmp/ble/eval

Operating Conditions
Ubuntu 20.04
Python 3.9, fresh anaconda install
Nvidia 470.82.01 driver

Issues
Within Features.py lines 541 and 543 cause an issue.

Error

/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/gym/envs/registration.py:440: UserWarning: WARN: The registry.env_specs property along with EnvSpecTree is deprecated. Please use registry directly as a dictionary instead.
logger.warn(
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/env/balloon/acs.py:24: DeprecationWarning: Please use interp1d from the scipy.interpolate namespace, the scipy.interpolate.interpolate namespace is deprecated.
_PRESSURE_RATIO_TO_POWER: interpolate.interpolate.interp1d = (
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/env/balloon/acs.py:31: DeprecationWarning: Please use interp2d from the scipy.interpolate namespace, the scipy.interpolate.interpolate namespace is deprecated.
_PRESSURE_RATIO_POWER_TO_EFFICIENCY: interpolate.interpolate.interp2d = (
2022-07-30 19:18:17.970362: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcudart.so.11.0'; dlerror: libcudart.so.11.0: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/cv2/../../lib64:/usr/local/cuda-11.4/lib64:/home/jack/PHD/AirSim/ros/devel/lib:/opt/ros/noetic/lib
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/flatbuffers/compat.py:19: DeprecationWarning: the imp module is deprecated in favour of importlib; see the module's documentation for alternative uses
import imp
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/keras/utils/image_utils.py:36: DeprecationWarning: NEAREST is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.NEAREST or Dither.NONE instead.
'nearest': pil_image.NEAREST,
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/keras/utils/image_utils.py:37: DeprecationWarning: BILINEAR is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.BILINEAR instead.
'bilinear': pil_image.BILINEAR,
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/keras/utils/image_utils.py:38: DeprecationWarning: BICUBIC is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.BICUBIC instead.
'bicubic': pil_image.BICUBIC,
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/keras/utils/image_utils.py:39: DeprecationWarning: HAMMING is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.HAMMING instead.
'hamming': pil_image.HAMMING,
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/keras/utils/image_utils.py:40: DeprecationWarning: BOX is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.BOX instead.
'box': pil_image.BOX,
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/keras/utils/image_utils.py:41: DeprecationWarning: LANCZOS is deprecated and will be removed in Pillow 10 (2023-07-01). Use Resampling.LANCZOS instead.
'lanczos': pil_image.LANCZOS,
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/gin/tf/init.py:48: DeprecationWarning: distutils Version classes are deprecated. Use packaging.version instead.
if (distutils.version.LooseVersion(tf.version) <
/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/chex/_src/pytypes.py:37: FutureWarning: jax.tree_structure is deprecated, and will be removed in a future release. Use jax.tree_util.tree_structure instead.
PyTreeDef = type(jax.tree_structure(None))
2022-07-30 19:18:19.227662: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcudart.so.11.0'; dlerror: libcudart.so.11.0: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/cv2/../../lib64:/usr/local/cuda-11.4/lib64:/home/jack/PHD/AirSim/ros/devel/lib:/opt/ros/noetic/lib
2022-07-30 19:18:19.227725: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcublas.so.11'; dlerror: libcublas.so.11: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/cv2/../../lib64:/usr/local/cuda-11.4/lib64:/home/jack/PHD/AirSim/ros/devel/lib:/opt/ros/noetic/lib
2022-07-30 19:18:19.227769: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcublasLt.so.11'; dlerror: libcublasLt.so.11: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/cv2/../../lib64:/usr/local/cuda-11.4/lib64:/home/jack/PHD/AirSim/ros/devel/lib:/opt/ros/noetic/lib
2022-07-30 19:18:19.227813: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcufft.so.10'; dlerror: libcufft.so.10: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/cv2/../../lib64:/usr/local/cuda-11.4/lib64:/home/jack/PHD/AirSim/ros/devel/lib:/opt/ros/noetic/lib
2022-07-30 19:18:19.227854: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcurand.so.10'; dlerror: libcurand.so.10: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/cv2/../../lib64:/usr/local/cuda-11.4/lib64:/home/jack/PHD/AirSim/ros/devel/lib:/opt/ros/noetic/lib
2022-07-30 19:18:19.227895: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcusolver.so.11'; dlerror: libcusolver.so.11: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/cv2/../../lib64:/usr/local/cuda-11.4/lib64:/home/jack/PHD/AirSim/ros/devel/lib:/opt/ros/noetic/lib
2022-07-30 19:18:19.227936: W tensorflow/stream_executor/platform/default/dso_loader.cc:64] Could not load dynamic library 'libcusparse.so.11'; dlerror: libcusparse.so.11: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/cv2/../../lib64:/usr/local/cuda-11.4/lib64:/home/jack/PHD/AirSim/ros/devel/lib:/opt/ros/noetic/lib
2022-07-30 19:18:19.230073: W tensorflow/core/common_runtime/gpu/gpu_device.cc:1850] Cannot dlopen some GPU libraries. Please make sure the missing libraries mentioned above are installed properly if you would like to use GPU. Follow the guide at https://www.tensorflow.org/install/gpu for how to download and setup the required libraries for your platform.
Skipping registering GPU devices...
I0730 19:18:19.425369 140108376749888 xla_bridge.py:328] Unable to initialize backend 'tpu_driver': NOT_FOUND: Unable to find driver in registry given worker:
I0730 19:18:19.425472 140108376749888 xla_bridge.py:328] Unable to initialize backend 'cuda': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
I0730 19:18:19.425517 140108376749888 xla_bridge.py:328] Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
I0730 19:18:19.425881 140108376749888 xla_bridge.py:328] Unable to initialize backend 'tpu': INVALID_ARGUMENT: TpuPlatform is not available.
W0730 19:18:19.425932 140108376749888 xla_bridge.py:335] No GPU/TPU found, falling back to CPU. (Set TF_CPP_MIN_LOG_LEVEL=0 and rerun for more info.)
Traceback (most recent call last):
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/runpy.py", line 197, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/runpy.py", line 87, in _run_code
exec(code, run_globals)
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/eval/eval.py", line 143, in
app.run(main)
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/absl/app.py", line 308, in run
_run_main(main, args)
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/absl/app.py", line 254, in _run_main
sys.exit(main(argv))
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/eval/eval.py", line 119, in main
env = gym.make('BalloonLearningEnvironment-v0',
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/gym/envs/registration.py", line 662, in make
env = env_creator(**_kwargs)
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/gin/config.py", line 1605, in gin_wrapper
utils.augment_exception_message_and_reraise(e, err_str)
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/gin/utils.py", line 41, in augment_exception_message_and_reraise
raise proxy.with_traceback(exception.traceback) from None
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/gin/config.py", line 1582, in gin_wrapper
return fn(*new_args, **new_kwargs)
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/env/balloon_env.py", line 145, in init
self.arena = balloon_arena.BalloonArena(self._feature_constructor_factory,
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/env/balloon_arena.py", line 160, in init
self.reset(seed)
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/env/balloon_arena.py", line 183, in reset
return self.feature_constructor.get_features()
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/env/features.py", line 327, in get_features
self._add_wind_features(feature_vector)
File "/home/jack/anaconda3/envs/BLEnv/lib/python3.9/site-packages/balloon_learning_environment/env/features.py", line 541, in _add_wind_features
assert 0.0 <= deviations[level] <= 1.00001, 'Uncertainty not in [0, 1].'
ValueError: The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()
In call to configurable 'BalloonEnv' (<class 'balloon_learning_environment.env.balloon_env.BalloonEnv'>)

[joshgreaves]

Thanks for pointing this out, it does appear to be a bug on our end. I'm looking into it now.

[joshgreaves]

It looks like the API for scikit learn's GaussianProcessRegressor was updated.

I'll work on a fix, but in the meantime using an earlier version of scikit learn should work: python -m pip install scikit-learn==1.0.2.

[SaundersJE97]

I had installed scikit-learn 1.1.1, downgrading as you suggested did the trick. Thank you!