AssertionError: angle is not finite

[chan-yuu]

I am using the v2 warehouse for training and eval.

python $NAVSIM_DEVKIT_ROOT/navsim/planning/script/run_pdm_score.py \
        train_test_split=navtest \
        agent=diffusiondrive_agent \
        worker=ray_distributed \
        agent.checkpoint_path=$CKPT \
        experiment_name=diffusiondrive_agent_eval

Ray objects: 100%|██████████████████████████████| 64/64 [12:57<00:00, 12.15s/it]
Error executing job with overrides: ['train_test_split=navtest', 'agent=diffusiondrive_agent', 'worker=ray_distributed', 'agent.checkpoint_path=/home/user/Documents/cyun/navsim/DiffusionDriveV2/exp/training_diffusiondrive_agent/2026.03.04.00.54.53/lightning_logs/version_0/checkpoints/diffusion.ckpt', 'experiment_name=diffusiondrive_agent_eval']
Traceback (most recent call last):
  File "/home/user/miniconda3/envs/navsim/lib/python3.9/site-packages/pandas/core/indexes/base.py", line 3812, in get_loc
    return self._engine.get_loc(casted_key)
  File "pandas/_libs/index.pyx", line 167, in pandas._libs.index.IndexEngine.get_loc
  File "pandas/_libs/index.pyx", line 196, in pandas._libs.index.IndexEngine.get_loc
  File "pandas/_libs/hashtable_class_helper.pxi", line 7088, in pandas._libs.hashtable.PyObjectHashTable.get_item
  File "pandas/_libs/hashtable_class_helper.pxi", line 7096, in pandas._libs.hashtable.PyObjectHashTable.get_item
KeyError: 'score'

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/user/Documents/cyun/navsim/DiffusionDriveV2/navsim/planning/script/run_pdm_score.py", line 158, in main
    Final average score of valid results: {pdm_score_df['score'].mean()}.
  File "/home/user/miniconda3/envs/navsim/lib/python3.9/site-packages/pandas/core/frame.py", line 4113, in __getitem__
    indexer = self.columns.get_loc(key)
  File "/home/user/miniconda3/envs/navsim/lib/python3.9/site-packages/pandas/core/indexes/base.py", line 3819, in get_loc
    raise KeyError(key) from err
KeyError: 'score'

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
(wrapped_fn pid=149808) INFO:__main__:Processing scenario 642 / 642 in thread_id=eea63908-fb03-45cc-a702-d18352bf8a34, node_id=0 [repeated 3x across cluster]
(wrapped_fn pid=149808) WARNING:__main__:----------- Agent failed for token 8912a46529c059a1: [repeated 4x across cluster]
(wrapped_fn pid=149808) Traceback (most recent call last): [repeated 4x across cluster]
(wrapped_fn pid=149808)   File "/home/user/Documents/cyun/navsim/DiffusionDriveV2/navsim/planning/script/run_pdm_score.py", line 86, in run_pdm_score [repeated 4x across cluster]
(wrapped_fn pid=149808)     pdm_result = pdm_score( [repeated 4x across cluster]
(wrapped_fn pid=149808)   File "/home/user/Documents/cyun/navsim/DiffusionDriveV2/navsim/evaluate/pdm_score.py", line 104, in pdm_score [repeated 4x across cluster]
(wrapped_fn pid=149808)     get_trajectory_as_array(pred_trajectory, future_sampling, initial_ego_state.time_point), [repeated 4x across cluster]
(wrapped_fn pid=149808)   File "/home/user/Documents/cyun/navsim/DiffusionDriveV2/navsim/evaluate/pdm_score.py", line 78, in get_trajectory_as_array [repeated 4x across cluster]
(wrapped_fn pid=149808)     trajectory_ego_states: List[EgoState] = trajectory.get_state_at_times(time_points) [repeated 4x across cluster]
(wrapped_fn pid=149808)   File "/home/user/miniconda3/envs/navsim/lib/python3.9/site-packages/nuplan/planning/simulation/trajectory/interpolated_trajectory.py", line 99, in get_state_at_times [repeated 4x across cluster]
(wrapped_fn pid=149808)     angular_states = list(self._angular_interpolator.interpolate(interpolation_times)) [repeated 4x across cluster]
(wrapped_fn pid=149808)   File "/home/user/miniconda3/envs/navsim/lib/python3.9/site-packages/nuplan/common/geometry/compute.py", line 169, in interpolate [repeated 4x across cluster]
(wrapped_fn pid=149808)     return principal_value(self.interpolator(sampled_state))  # type: ignore [repeated 4x across cluster]
(wrapped_fn pid=149808)   File "/home/user/miniconda3/envs/navsim/lib/python3.9/site-packages/nuplan/common/geometry/compute.py", line 102, in principal_value [repeated 4x across cluster]
(wrapped_fn pid=149808)     assert np.all(np.isfinite(angle)), "angle is not finite" [repeated 4x across cluster]
(wrapped_fn pid=149808) AssertionError: angle is not finite [repeated 4x across cluster]