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(huge) weirdab@flexo:~/goalrelabel_locobot_fullgcsl$ python launch_main.py --env_name bridge_finetune --method huge
/home/weirdab/miniconda3/envs/huge/lib/python3.8/site-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.16.5 and <1.23.0 is required for this version of SciPy (detected version 1.23.5
  warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
wandb: Currently logged in as: yuancarrieyjy. Use `wandb login --relogin` to force relogin
wandb: Tracking run with wandb version 0.15.10
wandb: Run data is saved locally in /home/weirdab/goalrelabel_locobot_fullgcsl/wandb/run-20230910_212016-uf22c09t
wandb: Run `wandb offline` to turn off syncing.
wandb: Syncing run bridge_finetune_huge_1_
wandb: ⭐️ View project at https://wandb.ai/yuancarrieyjy/bridge_finetune_huge
wandb: 🚀 View run at https://wandb.ai/yuancarrieyjy/bridge_finetune_huge/runs/uf22c09t
params before run {'lr': 0.0005, 'save_buffer': False, 'load_buffer': False, 'load_goal_selector': False, 'batch_size': 100, 'goal_selector_name': '', 'select_best_sample_size': 1000, 'explore_episodes': 10, 'render': False, 'display_plots': True, 'goal_selector_num_samples': 1000, 'remove_last_steps_when_stopped': True, 'train_goal_selector_freq': 5, 'exploration_when_stopped': True, 'distance_noise_std': 0, 'eval_episodes': 5, 'save_videos': True, 'eval_freq': 50, 'task_config': 'slide_cabinet,microwave', 'epsilon_greedy_exploration': 0, 'epsilon_greedy_rollout': 1, 'select_last_k_steps': 21, 'remove_last_k_steps': 8, 'network_layers': '400,600,600,300', 'reward_layers': '400,600,600,300', 'weighted_sl': False, 'num_blocks': 3, 'random_goal': False, 'maze_type': 3, 'buffer_size': 200, 'use_horizon': False, 'sample_new_goal_freq': 10, 'k_goal': 1, 'throw_trajectories_not_reaching_goal': False, 'fourier': True, 'fourier_goal_selector': False, 'command_goal_if_too_close': False, 'display_trajectories_freq': 50, 'contrastive': False, 'deterministic_rollout': False, 'expl_noise_std': 1, 'normalize': False, 'goal_threshold': -1, 'goal_selector_epochs': 400, 'goal_selector_batch_size': 64, 'check_if_stopped': True, 'use_wrong_oracle': False, 'human_data_file': '', 'stop_training_goal_selector_after': -1, 'policy_updates_per_step': 100, 'pretrain': False, 'num_demos': 0, 'desired_goal_sampling_freq': 0, 'img_width': 256, 'img_height': 256, 'human_input': False, 'max_timesteps': 1000000, 'explore_length': 20, 'max_path_length': 50, 'stopped_thresh': 0.05, 'frontier_expansion_freq': 20, 'frontier_expansion_rate': 5, 'start_frontier': 30, 'repeat_previous_action_prob': 0, 'select_goal_from_last_k_trajectories': 20, 'pretrain_policy': False, 'pretrain_goal_selector': False, 'train_with_preferences': True, 'use_oracle': False, 'sample_softmax': True, 'continuous_action_space': True, 'use_images_in_reward_model': True, 'input_image_size': 128, 'gpu': 0, 'seed': 1, 'env_name': 'bridge_finetune', 'comment': '', 'method': 'huge', 'use_images': False, 'data_folder': 'bridge_finetune__use_oracle_1'}
2023-09-10 21:20:25.260265: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
No GPU/TPU found, falling back to CPU. (Set TF_CPP_MIN_LOG_LEVEL=0 and rerun for more info.)
Not using GPU. Will be slow.
hello
waiting for widowx to be set up...
Robot Name: wx250s
Robot Model: wx250s
Initialized InterbotixRobotXSCore!

Arm Group Name: arm
Moving Time: 2.00 seconds
Acceleration Time: 0.30 seconds
Drive Mode: Time-Based-Profile
Initialized InterbotixArmXSInterface!

Gripper Name: gripper
Gripper Pressure: 50%
Initialized InterbotixGripperXSInterface!

Trying to read camera info from  /cam0/camera_info
Successfully read camera info
moving to neutral..
moving to neutral failed!
bridgeEnv: {'_hp': {'robot_name': 'wx250s', 'robot_controller': <class 'widowx_envs.widowx.src.widowx_controller.WidowX_Controller'>, 'gripper_attached': 'custom', 'camera_topics': [<robonetv3.widowx_envs.widowx_envs.utils.multicam_server_rospkg.src.topic_utils.IMTopic object at 0x7f7dc5d647c0>], 'start_at_neutral': False, 'start_at_current_pos': False, 'OFFSET_TOL': 0.1, 'lower_bound_delta': [0.0, 0.0, 0.0, 0.0, 0.0], 'upper_bound_delta': [0.0, 0.0, 0.0, 0.0, 0.0], 'print_debug': False, 'move_duration': 0.2, 'action_clipping': 'xyz', 'override_workspace_boundaries': [[0.1, -0.15, -0.1, -1.57, 0], [0.45, 0.25, 0.18, 1.57, 0]], 'resetqpos_after_every_step': False, 'absolute_grasp_action': True, 'continuous_gripper': True, 'action_mode': '3trans3rot', 'start_state': None, 'wait_time': 0, 'adaptive_wait': True, 'workspace_rotation_angle_z': 0, 'wait_until_gripper_pose_reached': False, 'catch_environment_except': False, 'gripper_params': {'des_pos_max': 1, 'des_pos_min': 0}, 'randomize_initpos': 'full_area', 'mode_rel': [True, True, True, True, True], 'start_transform': None, 'skip_move_to_neutral': True, 'move_to_rand_start_freq': 1, 'fix_zangle': 0.1, 'image_crop_xywh': None, 'return_full_image': False}, 'savedir': None, '_robot_name': 'wx250s', '_low_bound': array([ 0.1 , -0.15, -0.1 , -1.57,  0.  ]), '_high_bound': array([0.45, 0.25, 0.18, 1.57, 0.  ]), '_obs_tol': 0.1, '_controller': <widowx_envs.widowx.src.widowx_controller.WidowX_Controller object at 0x7f7d43dc56a0>, '_cameras': [<widowx_envs.utils.multicam_server_rospkg.src.camera_recorder.CameraRecorder object at 0x7f7d43e53520>], '_camera_info': [header: 
  seq: 86795
  stamp: 
    secs: 1694405858
    nsecs: 802920478
  frame_id: "world"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [320.0, 0.0, 320.0, 0.0, 240.0, 240.0, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [320.0, 0.0, 320.0, 0.0, 0.0, 240.0, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False], '_depth_cameras': [], '_depth_camera_info': [], '_height': 480, '_width': 640, '_cam_names': ['front'], '_reset_counter': 0, '_previous_target_qpos': None, 'action_space': Box([-0.05 -0.05 -0.05 -0.25 -0.25 -0.25  0.  ], [0.05 0.05 0.05 0.25 0.25 0.25 1.  ], (7,), float32), '_adim': 7, '_base_adim': 7, '_sdim': 7, '_base_sdim': 7, 'time_for_get_obs': 0.08, 'image_size': 128, 'task_id': None, 'num_tasks': None, 'observation_space': Dict('desired_goal': Box(-inf, inf, (3,), float64), 'image': Box(0, 255, (49152,), uint8), 'state': Box(-inf, inf, (7,), float64)), 'move_except': False, 'reward_function': None, 'control_viewpoint': 0}
{'eval_freq': 10000, 'eval_episodes': 50, 'max_timesteps': 1000000.0, 'goal_threshold': 0.05, 'max_trajectory_length': 50, 'network_layers': '400,600,600,300', 'reward_layers': '400,600,600,300', 'buffer_size': 200, 'use_horizon': False, 'fourier': False, 'fourier_goal_selector': False, 'normalize': False, 'env_name': 'bridge_finetune', 'goal_selector_buffer_size': 8, 'input_image_size': 128, 'img_width': 256, 'img_height': 256, 'use_images_in_policy': False, 'use_images_in_reward_model': True, 'use_images_in_stopping_criteria': False, 'close_frames': 2, 'far_frames': 10}
INIT RW MODEL False [400, 600, 600, 300]
2704 1 False [400, 600, 600, 300] <class 'torch.nn.modules.activation.ReLU'>
<class 'huge.envs.env_utils.DummyWrappedEnv'>
buffer_size = 200, max_trajectory_length = 50,input_image_size = 128
*env.action_space.shape  7
*env.state_space.shape  147456
<class 'huge.envs.env_utils.DummyWrappedEnv'>
buffer_size = 200, max_trajectory_length = 50,input_image_size = 128
*env.action_space.shape  7
*env.state_space.shape  147456
violation  [  344.06005859 -1378.94999695  -800.47000122  -725.1499939
  -897.30999994  -907.42999268]
motor number:  0
max effort reached:  [1614.          126.43000031   94.15000153  174.8500061    13.45000076
  142.57000732]
max effort allowed  [1200. 1500.  900.  900.  900. 1050.]
moving to neutral..
moving to neutral failed!
{'max_path_length': 50, 'goal_threshold': 0.05, 'explore_episodes': 10, 'eval_freq': 50, 'eval_episodes': 5, 'save_every_iteration': False, 'max_timesteps': 1000000, 'expl_noise': 0.0, 'batch_size': 100, 'n_accumulations': 1, 'policy_updates_per_step': 100, 'lr': 0.0005, 'goal_selector_buffer_validation': <huge.algo.buffer.RewardModelBuffer object at 0x7f7cefeccfd0>, 'validation_buffer': <huge.algo.buffer.ReplayBuffer object at 0x7f7d43dfa760>, 'remove_last_k_steps': 8, 'select_last_k_steps': 21, 'continuous_action_space': True, 'expl_noise_std': 1, 'check_if_stopped': True, 'num_demos': 0, 'demo_epochs': 100000, 'demo_goal_selector_epochs': 1000, 'input_image_size': 64, 'use_images_in_policy': False, 'use_images_in_reward_model': True, 'classifier_model': None, 'use_images_in_stopping_criteria': False}
Use images in reward model
stop training goal selector after 1000000
Select goal from last k trajectories 20
Curr frontier beginning 30
Train policy freq is,  1
cuda device cuda:0
[WARN] [1694406065.378961]: Would exceed position limits on joint 2.
[WARN] [1694406065.380197]: Limits are [-2.146755, 1.605703], value was -3.440000.
[WARN] [1694406065.381487]: No valid pose could be found. Returned theta_list variable may be nonsense.
no IK solution found
moving to neutral..
moving to neutral failed!
Goal selector batch size 64
Evaluate policy
  0%|                                                                                                                                                                                     | 0/5 [00:00<?, ?it/s][WARN] [1694406071.024276]: Would exceed position limits on joint 2.
[WARN] [1694406071.027939]: Limits are [-2.146755, 1.605703], value was -2.283000.
[WARN] [1694406071.029195]: No valid pose could be found. Returned theta_list variable may be nonsense.
no IK solution found
moving to neutral..
moving to neutral failed!
time to get goal to rollout 0.0001659393310546875
> /home/weirdab/goalrelabel_locobot_fullgcsl/huge/algo/huge.py(1050)sample_trajectory()
   1048         from IPython.core.debugger import set_trace
   1049         set_trace()
-> 1050         while t < curr_max: #self.curr_frontier: #self.max_path_length:
   1051             if (curr_max - t == self.explore_length) and not stopped:
   1052                 stopped = True

ipdb> c
samples before normalized [ 0.97025514  1.3716675  -1.7952583  -0.48900414 -0.01262892 -0.14722599
 -0.40280282] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00931571 0.01290708 0.01255678 0.02615689 0.02875672 0.07803939
 0.2465638 ]
action clipped!
samples before normalized [ 0.93283796  1.4770036  -2.0304914  -0.23736706  0.1958166  -0.13575329
 -0.23227417] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00930849 0.01292147 0.01259108 0.02611061 0.0286925  0.07804254
 0.34839708]
action clipped!
samples before normalized [ 0.7924475   1.4374168  -1.8981501  -0.23285323  0.05775591 -0.16565613
 -0.75542134] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.0092814  0.01291606 0.01257178 0.02610978 0.02873504 0.07803433
 0.03599337]
action clipped!
repated images for get_image method!
repated images for get_image method!
samples before normalized [ 0.73545426  1.445658   -1.8924967  -0.22196919  0.0497895  -0.16653901
 -1.0642703 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.0092704   0.01291719  0.01257096  0.02610778  0.02873749  0.0780341
 -0.14843956]
action clipped!
samples before normalized [ 0.72231317  1.4503988  -1.8732325  -0.20745376  0.04127735 -0.16549581
 -1.0117553 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00926786  0.01291784  0.01256815  0.02610511  0.02874011  0.07803438
 -0.11707965]
action clipped!
samples before normalized [ 0.7278633   1.4368619  -1.8756726  -0.22618791  0.06283711 -0.16449644
 -1.0342791 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00926893  0.01291599  0.0125685   0.02610856  0.02873347  0.07803465
 -0.13052997]
action clipped!
samples before normalized [ 0.735414    1.4452916  -1.8781239  -0.20955886  0.05863629 -0.17685837
 -1.0222832 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00927039  0.01291714  0.01256886  0.0261055   0.02873476  0.07803126
 -0.12336645]
action clipped!
samples before normalized [ 0.72697735  1.4368008  -1.8524523  -0.24289031  0.06032449 -0.19015732
 -1.3830544 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00926876  0.01291598  0.01256512  0.02611163  0.02873424  0.07802761
 -0.33880535]
action clipped!
samples before normalized [ 0.7147742   1.4438474  -1.8367518  -0.22444993  0.07499987 -0.21300814
 -1.3749485 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00926641  0.01291694  0.01256283  0.02610824  0.02872972  0.07802135
 -0.33396485]
action clipped!
samples before normalized [ 0.70229685  1.4473615  -1.8244907  -0.21400252  0.08964357 -0.22391719
 -1.2654428 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.009264    0.01291742  0.01256104  0.02610632  0.02872521  0.07801836
 -0.26857218]
action clipped!
samples before normalized [ 0.7340973   1.473994   -1.8508734  -0.19784576  0.0530136  -0.23718667
 -1.3954504 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00927014  0.01292106  0.01256489  0.02610335  0.0287365   0.07801472
 -0.34620777]
action clipped!
samples before normalized [ 0.7316608   1.4378705  -1.8220754  -0.29516345  0.04273079 -0.21541089
 -1.7023227 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00926967  0.01291613  0.01256069  0.02612124  0.02873966  0.07802069
 -0.5294603 ]
action clipped!
samples before normalized [ 0.8037339   1.4601629  -1.8548878  -0.30685765  0.05872571 -0.19143265
 -1.6176925 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00928358  0.01291917  0.01256547  0.02612339  0.02873474  0.07802726
 -0.47892234]
action clipped!
samples before normalized [ 0.8643358   1.4982544  -1.9606819  -0.2422189   0.10006149 -0.19918488
 -1.2781966 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00929527  0.01292438  0.0125809   0.02611151  0.028722    0.07802514
 -0.27618822]
action clipped!
samples before normalized [ 0.786553    1.4527746  -1.9388633  -0.26058972  0.09892879 -0.19647223
 -1.369046  ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00928026  0.01291816  0.01257772  0.02611488  0.02872235  0.07802588
 -0.33044007]
action clipped!
samples before normalized [ 0.8048543   1.441401   -1.9533207  -0.26221204  0.09413055 -0.1946082
 -1.3175772 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00928379  0.01291661  0.01257983  0.02611518  0.02872383  0.0780264
 -0.29970488]
action clipped!
samples before normalized [ 0.75758004  1.4279449  -1.9691696  -0.28349072  0.1290725  -0.2034349
 -1.309882  ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00927467  0.01291477  0.01258214  0.0261191   0.02871306  0.07802398
 -0.2951096 ]
action clipped!
samples before normalized [ 0.758535    1.4169228  -1.9726912  -0.31229183  0.1488091  -0.18123063
 -1.169313  ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00927485  0.01291326  0.01258265  0.02612439  0.02870698  0.07803006
 -0.21116707]
action clipped!
samples before normalized [ 0.8334554   1.4201878  -1.9645644  -0.34066227  0.14435545 -0.18844792
 -1.2291652 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00928931  0.01291371  0.01258147  0.02612961  0.02870836  0.07802808
 -0.24690858]
action clipped!
samples before normalized [ 0.7883356   1.3972486  -1.9425926  -0.3545811   0.15943909 -0.18690675
 -1.2435839 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.0092806   0.01291057  0.01257826  0.02613217  0.02870371  0.07802851
 -0.25551888]
action clipped!
samples before normalized [ 0.9248098   1.4382524  -2.0810895  -0.3233588   0.21680126 -0.19203143
 -0.9877667 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00930694  0.01291618  0.01259846  0.02612643  0.02868604  0.0780271
 -0.1027545 ]
action clipped!
samples before normalized [ 1.0160712   1.4608828  -2.0165439  -0.27167726  0.15307921 -0.19598076
 -1.0541446 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [ 0.00932455  0.01291927  0.01258905  0.02611692  0.02870567  0.07802602
 -0.1423929 ]
action clipped!
samples before normalized [ 0.90875304  1.4339551  -1.953509   -0.37012368  0.19297053 -0.1880789
 -0.66839504] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00930384 0.01291559 0.01257985 0.02613503 0.02869338 0.07802819
 0.08796218]
action clipped!
samples before normalized [ 0.88828635  1.4096627  -1.9044924  -0.40591693  0.17726931 -0.17186946
 -0.5442407 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00929989 0.01291227 0.0125727  0.02614161 0.02869822 0.07803264
 0.16210243]
action clipped!
repated images for get_image method!
samples before normalized [ 0.84730136  1.3898685  -1.8352371  -0.42736462  0.18377748 -0.17858896
 -0.60812604] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00929198 0.01290956 0.01256261 0.02614556 0.02869621 0.07803079
 0.12395254]
action clipped!
samples before normalized [ 0.86698526  1.4043908  -1.9024822  -0.38717565  0.22943318 -0.1789239
 -0.40881008] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00929578 0.01291155 0.01257241 0.02613816 0.02868214 0.0780307
 0.2429765 ]
action clipped!
samples before normalized [ 1.0275571   1.3581132  -1.8302563  -0.47271284  0.1817059  -0.18089122
 -0.44631827] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00932677 0.01290522 0.01256188 0.02615389 0.02869685 0.07803015
 0.22057801]
action clipped!
samples before normalized [ 0.80170894  1.3675776  -1.8259588  -0.406202    0.2325322  -0.17103955
 -0.50945836] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00928319 0.01290652 0.01256125 0.02614166 0.02868119 0.07803286
 0.18287316]
action clipped!
samples before normalized [ 0.79734176  1.3993565  -1.9319774  -0.3239236   0.35101235 -0.15463872
 -0.4119243 ] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00928234 0.01291086 0.01257671 0.02612653 0.02864469 0.07803736
 0.2411168 ]
action clipped!
[WARN] [1694406120.374322]: No valid pose could be found. Returned theta_list variable may be nonsense.
no IK solution found
moving to neutral..
moving to neutral failed!
samples before normalized [ 0.73561954  1.4322803  -1.8646414  -0.32850367  0.1455136  -0.14187118
 -0.58181715] <class 'jaxlib.xla_extension.ArrayImpl'> (7,)
Added action is  [0.00927043 0.01291536 0.01256689 0.02612737 0.028708   0.07804086
 0.13966322]
action clipped!
[WARN] [1694406125.047158]: No valid pose could be found. Returned theta_list variable may be nonsense.
no IK solution found
moving to neutral..
moving to neutral failed!
Added action is  [ 0.53381091 -0.0919733   1.91382039  0.33079713  1.14194252 -1.12959516
 -0.85005238]
action clipped!
  0%|                                                                                                                                                                                     | 0/5 [00:59<?, ?it/s]
Traceback (most recent call last):
  File "launch_main.py", line 286, in <module>
    run(**params)
  File "launch_main.py", line 210, in run
    algo.train()
  File "/home/weirdab/goalrelabel_locobot_fullgcsl/huge/algo/huge.py", line 1513, in train
    self.evaluate_policy(self.eval_episodes, greedy=True, prefix='Eval')
  File "/home/weirdab/goalrelabel_locobot_fullgcsl/huge/algo/huge.py", line 1866, in evaluate_policy
    states, actions, goal_state, _, _ , img_states= self.sample_trajectory(goal=goal, greedy=greedy, save_video_trajectory=index==0, video_filename=video_filename)
  File "/home/weirdab/goalrelabel_locobot_fullgcsl/huge/algo/huge.py", line 1050, in sample_trajectory
    while t < curr_max: #self.curr_frontier: #self.max_path_length:
  File "/home/weirdab/goalrelabel_locobot_fullgcsl/huge/algo/huge.py", line 885, in create_video
    skvideo.io.vwrite(f"{self.trajectories_videos_folder}/{video_filename}.mp4", images)
  File "/home/weirdab/miniconda3/envs/huge/lib/python3.8/site-packages/skvideo/io/io.py", line 53, in vwrite
    videodata = vshape(videodata)
  File "/home/weirdab/miniconda3/envs/huge/lib/python3.8/site-packages/skvideo/utils/__init__.py", line 318, in vshape
    raise ValueError("Improper data input")
ValueError: Improper data input
Killed