Environment 2 and 3 Failing

[gauravkuppa]

I tested the target tracking out the following command python ADFQ/deep_adfq/run_tracking.py --record 1 --render 1 --log_dir deep_adfq_2_targets_v1 --device 0 --nb_targets 2 in all environments and I get errors in environment 2 and 3.

Here are the errors I get for

Env v2

  File "/miniconda/envs/adfq_venv/lib/python3.7/site-packages/filterpy/kalman/sigma_points.py", line 350, in sigma_points
    U = self.sqrt((n + self.kappa) * P)
  File "/miniconda/envs/adfq_venv/lib/python3.7/site-packages/scipy/linalg/decomp_cholesky.py", line 89, in cholesky
    check_finite=check_finite)
  File "/miniconda/envs/adfq_venv/lib/python3.7/site-packages/scipy/linalg/decomp_cholesky.py", line 38, in _cholesky
    "definite" % info)
numpy.linalg.LinAlgError: 1-th leading minor of the array is not positive definite

Env v3

F.py", line 500, in compute_process_sigmas
    sigmas = self.points_fn.sigma_points(self.x, self.P)
  File "/miniconda/envs/adfq_venv/lib/python3.7/site-packages/filterpy/kalman/sigma_points.py", line 350, in sigma_points
    U = self.sqrt((n + self.kappa) * P)
  File "/miniconda/envs/adfq_venv/lib/python3.7/site-packages/scipy/linalg/decomp_cholesky.py", line 89, in cholesky
    check_finite=check_finite)
  File "/miniconda/envs/adfq_venv/lib/python3.7/site-packages/scipy/linalg/decomp_cholesky.py", line 38, in _cholesky
    "definite" % info)
numpy.linalg.LinAlgError: 2-th leading minor of the array is not positive definite

I can see that this is a result of the UKF, but I am unsure on what the cause of this bug is. Do you have any input or direction?