This error means that VirtualBox could not be configured properly. Try the following:
Windows
Delete the folder %HOMEPATH%\.VirtualBox and try again. If it doesn't help, uninstall your current VirtualBox and re-install VirtualBox recommend version.
Linux
Note
VirtualBox is no longer the default hypervisor and it is not recommended on Linux: QEMU uses kvm and provides better compatibility and performance.
Delete the folder $HOME/.config/VirtualBox and try again. If it doesn't help, re-install your distribution VirtualBox package.
macOS (Intel x86_64 only)
Note
VirtualBox is no longer the default hypervisor and it is not recommended on macOS: QEMU provides better compatibility and performance. Also note that VirtualBox is not available for Mac M series.
Delete the folder $HOME/Library/VirtualBox and try again. If it doesn't help, re-install VirtualBox.