Error "indices[0] = 0 not in [0,0)" when training CenterNet MobileNetV2 FPN 512x512 with tensorflow object detection api

Thanks for Alexandra. Delete the keypoint association from the config file.

Original code (Delete the part marked "//delete"):

model {
  center_net {
    num_classes: 90
    feature_extractor {
      type: "mobilenet_v2_fpn_sep_conv"
    }
    image_resizer {
      keep_aspect_ratio_resizer {
        min_dimension: 512
        max_dimension: 512
        pad_to_max_dimension: true
      }
    }
    use_depthwise: true
    object_detection_task {
      task_loss_weight: 1.0
      offset_loss_weight: 1.0
      scale_loss_weight: 0.1
      localization_loss {
        l1_localization_loss {
        }
      }
    }
    object_center_params {
      object_center_loss_weight: 1.0
      classification_loss {
        penalty_reduced_logistic_focal_loss {
          alpha: 2.0
          beta: 4.0
        }
      }
      min_box_overlap_iou: 0.7
      max_box_predictions: 20
    }
  }
}
train_config {
  batch_size: 512
  data_augmentation_options {        // delete
    random_horizontal_flip {           
      keypoint_flip_permutation: 0
      keypoint_flip_permutation: 2
      keypoint_flip_permutation: 1
      keypoint_flip_permutation: 4
      keypoint_flip_permutation: 3
      keypoint_flip_permutation: 6
      keypoint_flip_permutation: 5
      keypoint_flip_permutation: 8
      keypoint_flip_permutation: 7
      keypoint_flip_permutation: 10
      keypoint_flip_permutation: 9
      keypoint_flip_permutation: 12
      keypoint_flip_permutation: 11
      keypoint_flip_permutation: 14
      keypoint_flip_permutation: 13
      keypoint_flip_permutation: 16
      keypoint_flip_permutation: 15
    }
  }                                     // delete
  data_augmentation_options {
    random_patch_gaussian {
    }
  }
  data_augmentation_options {
    random_crop_image {
      min_aspect_ratio: 0.5
      max_aspect_ratio: 1.7
      random_coef: 0.25
    }
  }
  data_augmentation_options {
    random_adjust_hue {
    }
  }
  data_augmentation_options {
    random_adjust_contrast {
    }
  }
  data_augmentation_options {
    random_adjust_saturation {
    }
  }
  data_augmentation_options {
    random_adjust_brightness {
    }
  }
  data_augmentation_options {
    random_absolute_pad_image {
      max_height_padding: 200
      max_width_padding: 200
      pad_color: 0.0
      pad_color: 0.0
      pad_color: 0.0
    }
  }
  optimizer {
    adam_optimizer {
      learning_rate {
        cosine_decay_learning_rate {
          learning_rate_base: 5e-3
          total_steps: 300000
          warmup_learning_rate: 1e-4
          warmup_steps: 5000
        }
      }
    }
    use_moving_average: false
  }
  num_steps: 300000
  max_number_of_boxes: 100
  unpad_groundtruth_tensors: false
  fine_tune_checkpoint_type: ""
}
train_input_reader {
  label_map_path: "PATH_TO_BE_CONFIGURED/label_map.txt"
  tf_record_input_reader {
    input_path: "PATH_TO_BE_CONFIGURED/train2017-?????-of-00256.tfrecord"
  }
  filenames_shuffle_buffer_size: 256
  num_keypoints: 17  // delete
}
eval_config {
  num_visualizations: 10
  metrics_set: "coco_detection_metrics"
  use_moving_averages: false
  min_score_threshold: 0.20000000298023224
  max_num_boxes_to_visualize: 20
  batch_size: 1
}
eval_input_reader {
  label_map_path: "PATH_TO_BE_CONFIGURED/label_map.txt"
  shuffle: false
  num_epochs: 1
  tf_record_input_reader {
    input_path: "PATH_TO_BE_CONFIGURED/val2017-?????-of-00032.tfrecord"
  }
  num_keypoints: 17    // delete
}

The code below is how i worked (modified):

model {
  center_net {
    num_classes: 4
    feature_extractor {
      type: "mobilenet_v2_fpn_sep_conv"
    }
    image_resizer {
      keep_aspect_ratio_resizer {
        min_dimension: 512
        max_dimension: 512
        pad_to_max_dimension: true
      }
    }
    use_depthwise: true
    object_detection_task {
      task_loss_weight: 1.0
      offset_loss_weight: 1.0
      scale_loss_weight: 0.1
      localization_loss {
        l1_localization_loss {
        }
      }
    }
    object_center_params {
      object_center_loss_weight: 1.0
      classification_loss {
        penalty_reduced_logistic_focal_loss {
          alpha: 2.0
          beta: 4.0
        }
      }
      min_box_overlap_iou: 0.7
      max_box_predictions: 20
    }
  }
}
train_config {
  batch_size: 8
  data_augmentation_options {
    random_patch_gaussian {
    }
  }
  data_augmentation_options {
    random_crop_image {
      min_aspect_ratio: 0.5
      max_aspect_ratio: 1.7
      random_coef: 0.25
    }
  }
  data_augmentation_options {
    random_adjust_hue {
    }
  }
  data_augmentation_options {
    random_adjust_contrast {
    }
  }
  data_augmentation_options {
    random_adjust_saturation {
    }
  }
  data_augmentation_options {
    random_adjust_brightness {
    }
  }
  data_augmentation_options {
    random_absolute_pad_image {
      max_height_padding: 200
      max_width_padding: 200
      pad_color: 0.0
      pad_color: 0.0
      pad_color: 0.0
    }
  }
  optimizer {
    adam_optimizer {
      learning_rate {
        cosine_decay_learning_rate {
          learning_rate_base: 5e-3
          total_steps: 50000
          warmup_learning_rate: 1e-4
          warmup_steps: 2000
        }
      }
    }
    use_moving_average: false
  }
  num_steps: 6000
  max_number_of_boxes: 4
  unpad_groundtruth_tensors: false
  fine_tune_checkpoint_version: V2
  fine_tune_checkpoint: "pre-trained-models/centernet_mobilenetv2_fpn_od/checkpoint/ckpt-301"
  fine_tune_checkpoint_type: "detection"
}
train_input_reader {
  label_map_path: "annotations/label_map.pbtxt"
  tf_record_input_reader {
    input_path: "annotations/train_c.record"
  }
  filenames_shuffle_buffer_size: 256
}
eval_config {
  num_visualizations: 10
  metrics_set: "coco_detection_metrics"
  use_moving_averages: false
  min_score_threshold: 0.20000000298023224
  max_num_boxes_to_visualize: 20
  batch_size: 1
}
eval_input_reader {
  label_map_path: "annotations/label_map.pbtxt"
  shuffle: false
  num_epochs: 1
  tf_record_input_reader {
    input_path: "annotations/test_c.record"
  }
}