Unable to run python robomimic/examples/train_bc_rnn.py --debug after installation on macOS-arm64 (M2 MBA)

[aaf091]

System Info

MacOS Sequoia 15.1.1
8 GB RAM
Robosuite 1.5.0

Information

/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/torchvision/io/image.py:13: UserWarning: Failed to load image Python extension: 'dlopen(/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/torchvision/image.so, 0x0006): Symbol not found: __ZN3c1017RegisterOperatorsD1Ev
Referenced from: <2D1B8D5C-7891-3680-9CF9-F771AE880676> /Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/torchvision/image.so
Expected in: <38796DC6-8F33-3A89-BBAA-5FC71F99817A> /Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/torch/lib/libtorch_cpu.dylib'If you don't plan on using image functionality from torchvision.io, you can ignore this warning. Otherwise, there might be something wrong with your environment. Did you have libjpeg or libpng installed before building torchvision from source?
warn(

============= New Training Run with Config =============
{
"algo_name": "bc",
"experiment": {
"name": "robosuite_bc_rnn_example",
"validate": true,
"logging": {
"terminal_output_to_txt": false,
"log_tb": true,
"log_wandb": false,
"wandb_proj_name": "debug"
},
"save": {
"enabled": true,
"every_n_seconds": null,
"every_n_epochs": 1,
"epochs": [],
"on_best_validation": false,
"on_best_rollout_return": false,
"on_best_rollout_success_rate": true
},
"epoch_every_n_steps": 3,
"validation_epoch_every_n_steps": 3,
"env": null,
"additional_envs": null,
"render": false,
"render_video": true,
"keep_all_videos": false,
"video_skip": 5,
"rollout": {
"enabled": true,
"n": 2,
"horizon": 10,
"rate": 1,
"warmstart": 0,
"terminate_on_success": true
}
},
"train": {
"data": "/Users/aaditfadia/Downloads/robomimic/robomimic/../tests/assets/test_v141.hdf5",
"output_dir": "/Users/aaditfadia/Downloads/robomimic/robomimic/../tests/tmp_model_dir",
"num_data_workers": 0,
"hdf5_cache_mode": "all",
"hdf5_use_swmr": true,
"hdf5_load_next_obs": false,
"hdf5_normalize_obs": false,
"hdf5_filter_key": "train",
"hdf5_validation_filter_key": "valid",
"seq_length": 10,
"pad_seq_length": true,
"frame_stack": 1,
"pad_frame_stack": true,
"dataset_keys": [
"actions",
"rewards",
"dones"
],
"goal_mode": null,
"cuda": true,
"batch_size": 100,
"num_epochs": 2,
"seed": 1
},
"algo": {
"optim_params": {
"policy": {
"optimizer_type": "adam",
"learning_rate": {
"initial": 0.0001,
"decay_factor": 0.1,
"epoch_schedule": [],
"scheduler_type": "multistep"
},
"regularization": {
"L2": 0.0
}
}
},
"loss": {
"l2_weight": 1.0,
"l1_weight": 0.0,
"cos_weight": 0.0
},
"actor_layer_dims": [],
"gaussian": {
"enabled": false,
"fixed_std": false,
"init_std": 0.1,
"min_std": 0.01,
"std_activation": "softplus",
"low_noise_eval": true
},
"gmm": {
"enabled": true,
"num_modes": 5,
"min_std": 0.0001,
"std_activation": "softplus",
"low_noise_eval": true
},
"vae": {
"enabled": false,
"latent_dim": 14,
"latent_clip": null,
"kl_weight": 1.0,
"decoder": {
"is_conditioned": true,
"reconstruction_sum_across_elements": false
},
"prior": {
"learn": false,
"is_conditioned": false,
"use_gmm": false,
"gmm_num_modes": 10,
"gmm_learn_weights": false,
"use_categorical": false,
"categorical_dim": 10,
"categorical_gumbel_softmax_hard": false,
"categorical_init_temp": 1.0,
"categorical_temp_anneal_step": 0.001,
"categorical_min_temp": 0.3
},
"encoder_layer_dims": [
300,
400
],
"decoder_layer_dims": [
300,
400
],
"prior_layer_dims": [
300,
400
]
},
"rnn": {
"enabled": true,
"horizon": 10,
"hidden_dim": 400,
"rnn_type": "LSTM",
"num_layers": 2,
"open_loop": false,
"kwargs": {
"bidirectional": false
}
},
"transformer": {
"enabled": false,
"context_length": 10,
"embed_dim": 512,
"num_layers": 6,
"num_heads": 8,
"emb_dropout": 0.1,
"attn_dropout": 0.1,
"block_output_dropout": 0.1,
"sinusoidal_embedding": false,
"activation": "gelu",
"supervise_all_steps": false,
"nn_parameter_for_timesteps": true
}
},
"observation": {
"modalities": {
"obs": {
"low_dim": [
"robot0_eef_pos",
"robot0_eef_quat",
"robot0_gripper_qpos",
"object"
],
"rgb": [],
"depth": [],
"scan": []
},
"goal": {
"low_dim": [],
"rgb": [],
"depth": [],
"scan": []
}
},
"encoder": {
"low_dim": {
"core_class": null,
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
},
"rgb": {
"core_class": "VisualCore",
"core_kwargs": {
"feature_dimension": 64,
"backbone_class": "ResNet18Conv",
"backbone_kwargs": {
"pretrained": false,
"input_coord_conv": false
},
"pool_class": "SpatialSoftmax",
"pool_kwargs": {
"num_kp": 32,
"learnable_temperature": false,
"temperature": 1.0,
"noise_std": 0.0
}
},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {
"crop_height": 76,
"crop_width": 76,
"num_crops": 1,
"pos_enc": false
}
},
"depth": {
"core_class": "VisualCore",
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
},
"scan": {
"core_class": "ScanCore",
"core_kwargs": {},
"obs_randomizer_class": null,
"obs_randomizer_kwargs": {}
}
}
},
"meta": {
"hp_base_config_file": null,
"hp_keys": [],
"hp_values": []
}
}

WARNING: model directory (/Users/aaditfadia/Downloads/robomimic/robomimic/../tests/tmp_model_dir/robosuite_bc_rnn_example) already exists!
overwrite? (y/n)
n

============= Initialized Observation Utils with Obs Spec =============

using obs modality: low_dim with keys: ['object', 'robot0_eef_pos', 'robot0_eef_quat', 'robot0_gripper_qpos']
using obs modality: rgb with keys: []
using obs modality: depth with keys: []
using obs modality: scan with keys: []

============= Loaded Environment Metadata =============
obs key object with shape (10,)
obs key robot0_eef_pos with shape (3,)
obs key robot0_eef_quat with shape (4,)
obs key robot0_gripper_qpos with shape (2,)
[robosuite WARNING] No private macro file found! (macros.py:53)
[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
[robosuite WARNING] To setup, run: python /Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/scripts/setup_macros.py (macros.py:55)
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (init.py:40)
INFO: Probing, EGL cannot run on this device
Traceback (most recent call last):
File "/Users/aaditfadia/Downloads/robomimic/examples/train_bc_rnn.py", line 462, in
train(config, device=device)
File "/Users/aaditfadia/Downloads/robomimic/robomimic/scripts/train.py", line 99, in train
env = EnvUtils.create_env_from_metadata(
File "/Users/aaditfadia/Downloads/robomimic/robomimic/utils/env_utils.py", line 229, in create_env_from_metadata
env = create_env(
File "/Users/aaditfadia/Downloads/robomimic/robomimic/utils/env_utils.py", line 174, in create_env
env = env_class(
File "/Users/aaditfadia/Downloads/robomimic/robomimic/envs/env_robosuite.py", line 105, in init
self.env = robosuite.make(self._env_name, **kwargs)
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/environments/base.py", line 41, in make
return REGISTERED_ENVS[env_name](*args, **kwargs)
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/environments/manipulation/lift.py", line 187, in init
super().init(
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/environments/manipulation/manipulation_env.py", line 171, in init
super().init(
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/environments/robot_env.py", line 221, in init
super().init(
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/environments/base.py", line 158, in init
self._reset_internal()
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/environments/manipulation/lift.py", line 394, in _reset_internal
super()._reset_internal()
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/environments/robot_env.py", line 526, in _reset_internal
robot.reset(deterministic=self.deterministic_reset)
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/robots/fixed_base_robot.py", line 79, in reset
super().reset(deterministic)
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/robots/robot.py", line 268, in reset
self._load_controller()
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/robots/fixed_base_robot.py", line 46, in _load_controller
self.composite_controller = composite_controller_factory(
File "/Users/aaditfadia/miniconda3/envs/robomimic_venv/lib/python3.9/site-packages/robosuite/controllers/composite/init.py", line 8, in composite_controller_factory
assert type in REGISTERED_COMPOSITE_CONTROLLERS_DICT, f"{type} controller is specified, but not imported or loaded"
AssertionError: OSC_POSE controller is specified, but not imported or loaded

Reproduction

Run the following line in the terminal on a macOS-arm64 machine after installing robomimic, robosuite, mujoco and their requirements

Expected behavior

No response

[amandlek]

This is expected - we are currently working on porting the old robomimic datasets to robosuite v1.5 and it will be released shortly in the new robomimic version. Until then, please use older versions of robosuite as documented here.