Thank you for your reply. Actually, I found that that the error was caused by 
another issue.
Now my training code works by returning an arbitrary bbox and a label -1:

`return nd.array(img), np.array([[100, 100, 200, 200, -1]])`

By inspecting the source code, I realized that I have to return from my dataset 
class at least one bbox per example. But I am not sure if return a -1 as class 
label is the right approach.





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