AttributeError: 'NoneType' object has no attribute 'info' when reset (R) is used multiple times.

[jnzhao3]

Error Message

When logging demonstrations with the --log_dir flag,

Traceback (most recent call last):
  File "/home/moma/distill_rl2g/utils/teleop.py", line 298, in <module>
    logger.close()
  File "/home/moma/oxe_envlogger/oxe_envlogger/rlds_logger.py", line 166, in close
    self.writer._write_and_reset_episode()
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/envlogger/backends/tfds_backend_writer.py", line 105, in _write_and_reset_episode
    self._sequential_writer.add_examples(
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/sequential_writer.py", line 336, in add_examples
    serialized_example = _serialize_example(
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/sequential_writer.py", line 44, in _serialize_example
    py_utils.reraise(
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/sequential_writer.py", line 42, in _serialize_example
    encoded_example = features.encode_example(example)
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/features/features_dict.py", line 243, in encode_example
    utils.reraise(
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/features/features_dict.py", line 241, in encode_example
    example[k] = feature.encode_example(example_value)
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/features/dataset_feature.py", line 143, in encode_example
    ds_elements = [
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/features/dataset_feature.py", line 144, in <listcomp>
    self.feature.encode_example(example) for example in dict_list
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/features/features_dict.py", line 243, in encode_example
    utils.reraise(
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/features/features_dict.py", line 241, in encode_example
    example[k] = feature.encode_example(example_value)
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/tensorflow_datasets/core/features/tensor_feature.py", line 234, in encode_example
    raise ValueError(
ValueError: Failed to encode example:
In <Dataset> with name "steps":
In <Tensor> with name "discount":
Dtype object do not match <class 'numpy.float32'>
{'steps': [{'action': array([0., 0., 0., 0., 0., 0., 0.], dtype=float32), 'discount': array(0, dtype=object), 'is_first': True, 'is_last': False, 'is_terminal': False, 'observation': {'image_primary': array([[[ 25,  29,  18],
        [ 24,  28,  17],
        [ 28,  30,  18],
        ...,
        [136, 140, 135],
        [136, 140, 135],
        [136, 140, 135]],

       [[ 24,  28,  17],
        [ 24,  28,  17],
        [ 26,  28,  16],
        ...,
        [135, 139, 134],
        [135, 139, 134],
        [135, 139, 134]],

       [[ 23,  27,  16],
        [ 25,  29,  18],
        [ 25,  27,  15],
        ...,
        [135, 139, 134],
        [134, 138, 133],
        [134, 138, 133]],

       ...,

       [[ 26,  27,  18],
        [ 21,  22,  13],
        [ 25,  26,  16],
        ...,
        [134, 135, 126],
        [136, 137, 128],
        [135, 136, 127]],

       [[ 25,  28,  19],
        [ 25,  28,  19],
        [ 22,  23,  14],
        ...,
        [134, 135, 126],
        [138, 139, 130],
        [134, 135, 126]],

       [[ 21,  24,  15],
        [ 23,  26,  17],
        [ 23,  24,  15],
        ...,
        [131, 132, 123],
        [135, 136, 127],
        [134, 135, 126]]], dtype=uint8), 'state': array([2.5884697e-01, 9.3984650e-04, 2.4771872e-01, 3.0632956e+00,
       1.5323242e+00, 3.0632887e+00, 0.0000000e+00, 6.7674702e-01],
      dtype=float32), 'image_wrist': array([[[  3,   8,  11],
        [ 51,  58,  61],
        [106, 115, 118],
        ...,
        [ 27,  39,  79],
        [ 31,  35,  88],
        [ 24,  25,  85]],

       [[  3,  10,  13],
        [ 11,  21,  21],
        [130, 142, 144],
        ...,
        [ 26,  36,  76],
        [ 24,  29,  78],
        [ 21,  23,  77]],

       [[  5,  15,  15],
        [  0,  11,   9],
        [123, 137, 136],
        ...,
        [ 21,  27,  70],
        [ 22,  25,  69],
        [ 18,  21,  65]],

       ...,

       [[  2,   1,   3],
        [  4,   3,   5],
        [  5,   4,   6],
        ...,
        [  3,   2,   4],
        [  2,   1,   3],
        [  1,   0,   2]],

       [[  1,   0,   2],
        [  2,   1,   3],
        [  2,   1,   3],
        ...,
        [  2,   1,   3],
        [  2,   1,   3],
        [  2,   1,   3]],

       [[  4,   3,   5],
        [  3,   2,   4],
        [  3,   2,   4],
        ...,
        [  2,   1,   3],
        [  2,   1,   3],
        [  2,   1,   3]]], dtype=uint8)}, 'reward': array(0, dtype=object), 'language_text': 'tap the sponge'}]}

Exception ignored in: <function RLDSLogger.__del__ at 0x7e456c7269e0>
Traceback (most recent call last):
  File "/home/moma/oxe_envlogger/oxe_envlogger/rlds_logger.py", line 174, in __del__
  File "/home/moma/oxe_envlogger/oxe_envlogger/rlds_logger.py", line 166, in close
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/envlogger/backends/tfds_backend_writer.py", line 106, in _write_and_reset_episode
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/envlogger/backends/tfds_backend_writer.py", line 45, in get_rlds_episode
AttributeError: 'NoneType' object has no attribute 'to_rlds_step'
Exception ignored in: <function BackendWriter.__del__ at 0x7e456dbb7640>
Traceback (most recent call last):
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/envlogger/backends/backend_writer.py", line 65, in __del__
  File "/home/moma/anaconda3/envs/serl/lib/python3.10/site-packages/envlogger/backends/tfds_backend_writer.py", line 125, in close
AttributeError: 'NoneType' object has no attribute 'info'

Fix

Error is the result of using reset (R) more than once. Data collection works fine when reset is only used once.