Tensor size mismatch

[huynhtnhut97]

Hello, I ran the python projects/real_world_ovmm/eval_episode.py and got the following error after having Object Navigation. Any help here is appreciated!

[ObjectNav] Goal name: ['cup from chair to table']
Traceback (most recent call last):
File "/home/nhut/Gits/home-robot/projects/real_world_ovmm/eval_episode.py", line 106, in
main()
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/click/core.py", line 1157, in call
return self.main(*args, **kwargs)
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/click/core.py", line 1078, in main
rv = self.invoke(ctx)
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/click/core.py", line 1434, in invoke
return ctx.invoke(self.callback, **ctx.params)
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/click/core.py", line 783, in invoke
return __callback(*args, **kwargs)
File "/home/nhut/Gits/home-robot/projects/real_world_ovmm/eval_episode.py", line 92, in main
action, info, obs = agent.act(obs)
File "/home/nhut/Gits/home-robot/src/home_robot/home_robot/agent/ovmm_agent/ovmm_agent.py", line 576, in act
action, info, new_state = self._nav_to_obj(obs, info)
File "/home/nhut/Gits/home-robot/src/home_robot/home_robot/agent/ovmm_agent/ovmm_agent.py", line 416, in _nav_to_obj
action, info, terminate = self._heuristic_nav(obs, info)
File "/home/nhut/Gits/home-robot/src/home_robot/home_robot/agent/ovmm_agent/ovmm_agent.py", line 338, in _heuristic_nav
action, planner_info = super().act(obs)
File "/home/nhut/Gits/home-robot/src/home_robot/home_robot/agent/objectnav_agent/objectnav_agent.py", line 404, in act
planner_inputs, vis_inputs = self.prepare_planner_inputs(
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/torch/autograd/grad_mode.py", line 27, in decorate_context
return func(*args, **kwargs)
File "/home/nhut/Gits/home-robot/src/home_robot/home_robot/agent/objectnav_agent/objectnav_agent.py", line 227, in prepare_planner_inputs
) = self.module(
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1194, in _call_impl
return forward_call(*input, **kwargs)
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/torch/nn/parallel/data_parallel.py", line 169, in forward
return self.module(*inputs[0], **kwargs[0])
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1194, in _call_impl
return forward_call(*input, **kwargs)
File "/home/nhut/Gits/home-robot/src/home_robot/home_robot/agent/objectnav_agent/objectnav_agent_module.py", line 161, in forward
) = self.semantic_map_module(
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1194, in _call_impl
return forward_call(*input, **kwargs)
File "/home/nhut/anaconda3/envs/home-robot/lib/python3.9/site-packages/torch/autograd/grad_mode.py", line 27, in decorate_context
return func(*args, **kwargs)
File "/home/nhut/Gits/home-robot/src/home_robot/home_robot/mapping/semantic/categorical_2d_semantic_map_module.py", line 275, in forward
local_map, local_pose = self._update_local_map_and_pose(
File "/home/nhut/Gits/home-robot/src/home_robot/home_robot/mapping/semantic/categorical_2d_semantic_map_module.py", line 591, in _update_local_map_and_pose
feat[:, 1:, :] = nn.AvgPool2d(self.du_scale)(obs[:, 4:, :, :]).view(
RuntimeError: The expanded size of the tensor (19200) must match the existing size (57600) at non-singleton dimension 2. Target sizes: [1, 5, 19200]. Tensor sizes: [5, 57600]