Errors when running Transfuser on all scenarios

[luzijian2003114]

When running AlpaSim with the Transfuser model across all scenarios, multiple scenarios fail with two types of errors:
gRPC session errors: ValueError: Local camera definitions ['camera_rear_left_70fov'] are not available in sensorsim for scene 'clipgt-8196e111-df23-4129-933d-b998b80ba245'

Geometry processing errors: InsufficientPointsFitPlane: There are only 0 points in 3 dimensions in the alpasim_physics.backend module

Desktop :
OS: Ubuntu (based on terminal appearance)
Nvidia driver version: 570.124.06
CUDA version: 12.8
GPU: 2x NVIDIA GeForce RTX 3090

[mwatson-nvidia]

I suspect that certain scenes may be incompatible with transfuser due to missing cameras in the data. But, the physics one might be more surprising to me. Can you provide one of the scenes for which alpasim_physics fails?

[luzijian2003114]

@mwatson-nvidia Regarding the alpasim_physics failure:
The physics errors (InsufficientPointsFitPlane: There are only 0 points in 3 dimensions) occur in multiple scenes. Here are the specific scene IDs where this error appears:

bab186e6-002e-11f1-8575-6bb1b100ea5b
bb45aa1a-002e-11f1-8575-6bb1b100ea5b

[mwatson-nvidia]

Those look like the session ids, which are randomized uuids for the run and different from the scene ids. Can you either check for the scene id in your logs, or attach the full log as a text file?

[daehyoungko]

@luzijian2003114 ,

Based on your comment,

I confirmed that scene clipgt-8196e111-df23-4129-933d-b998b80ba245,  clipgt-35b7b92a-b64d-4b54-afbb-d23f0b4df598 have 4 cameras ['camera_cross_left_120fov', 'camera_cross_right_120fov', 'camera_front_tele_30fov', 'camera_front_wide_120fov'] which is good to run alpamayo, but it is not OK for transfuser driver model.

You can check data_info.json under /data/nre-artifacts/all-usdzs/, if you unzip it,
scene_id uuid
clipgt-35b7b92a-b64d-4b54-afbb-d23f0b4df598 --> 092f1d0c-38dc-4108-9eaf-dca881361384.usdz
clipgt-8196e111-df23-4129-933d-b998b80ba245 --> 626e1e62-48b8-405a-b8f5-6ff4d607ec86.usdz

It looks like some of scenes are not ready for transfuser.