This error means that VirtualBox could not be configured properly. To solve this, follow these instructions:
Windows
Delete the C:\Users\<your_username>\.VirtualBox folder and try again.
If it doesn't help, uninstall your current VirtualBox and re-install VirtualBox recommend version.
Linux
To solve this, delete the ~/.config/VirtualBox folder and try again.
If it doesn't help, re-install your distribution VirtualBox package.
macOS
Delete the Users/<your_username>/Library/VirtualBox folder and try again.
If it doesn't help, re-install VirtualBox.