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Since the error message doesn't specify the launch file causing the error, I was forced to go through my top-level launch file, comment everything out, and then one by one, re-enable each child launch file, and then re-run it, testing to see if I received the error.
This allowed me to track the error down to my launch file for the diagnostics_aggregator. Again, the launch file itself doesn't pass in any blank or None values. However, I was loading a configuration file with:
<rosparam command="load" file="$(find myrobot)/config/analyzers.yaml" />
I checked this file, and sure enough, it was corrupt. I re-uploaded this file, and that resolved the issue.