def init_workers(self):
"""
Initialize all types of workers and start their worker processes.
"""
actor_queues = [MpQueue(2 * 1000 * 1000) for _ in range(self.cfg.num_workers)]
policy_worker_queues = dict()
for policy_id in range(self.cfg.num_policies):
policy_worker_queues[policy_id] = []
for i in range(self.cfg.policy_workers_per_policy):
policy_worker_queues[policy_id].append(TorchJoinableQueue())
log.info('Initializing learners...')
policy_locks = [multiprocessing.Lock() for _ in range(self.cfg.num_policies)]
resume_experience_collection_cv = [multiprocessing.Condition() for _ in range(self.cfg.num_policies)]
learner_idx = 0
for policy_id in range(self.cfg.num_policies):
learner_worker = LearnerWorker(
learner_idx, policy_id, self.cfg, self.obs_space, self.action_space,
self.report_queue, policy_worker_queues[policy_id], self.traj_buffers,
policy_locks[policy_id], resume_experience_collection_cv[policy_id],
)
learner_worker.start_process()
learner_worker.init()
self.learner_workers[policy_id] = learner_worker
learner_idx += 1
log.info('Initializing policy workers...')
for policy_id in range(self.cfg.num_policies):
self.policy_workers[policy_id] = []
policy_queue = MpQueue()
self.policy_queues[policy_id] = policy_queue
for i in range(self.cfg.policy_workers_per_policy):
policy_worker = PolicyWorker(
i, policy_id, self.cfg, self.obs_space, self.action_space, self.traj_buffers,
policy_queue, actor_queues, self.report_queue, policy_worker_queues[policy_id][i],
policy_locks[policy_id], resume_experience_collection_cv[policy_id],
)
self.policy_workers[policy_id].append(policy_worker)
policy_worker.start_process()
log.info('Initializing actors...')
# We support actor worker initialization in groups, which can be useful for some envs that
# e.g. crash when too many environments are being initialized in parallel.
# Currently the limit is not used since it is not required for any envs supported out of the box,
# so we parallelize initialization as hard as we can.
# If this is required for your environment, perhaps a better solution would be to use global locks,
# like FileLock (see doom_gym.py)
self.actor_workers = []
max_parallel_init = int(1e9) # might be useful to limit this for some envs
worker_indices = list(range(self.cfg.num_workers))
for i in range(0, self.cfg.num_workers, max_parallel_init):
workers = self.init_subset(worker_indices[i:i + max_parallel_init], actor_queues)
self.actor_workers.extend(workers)
def init_workers(self):
actor_queues = [
faster_fifo.Queue() for _ in range(self.cfg.num_workers)
]
policy_worker_queues = dict()
for policy_id in range(self.cfg.num_policies):
policy_worker_queues[policy_id] = []
for i in range(self.cfg.policy_workers_per_policy):
policy_worker_queues[policy_id].append(TorchJoinableQueue())
log.info('Initializing learners...')
policy_locks = [
multiprocessing.Lock() for _ in range(self.cfg.num_policies)
]
resume_experience_collection_cv = [
multiprocessing.Condition() for _ in range(self.cfg.num_policies)
]
learner_idx = 0
for policy_id in range(self.cfg.num_policies):
learner_worker = LearnerWorker(
learner_idx,
policy_id,
self.cfg,
self.obs_space,
self.action_space,
self.report_queue,
policy_worker_queues[policy_id],
self.traj_buffers,
policy_locks[policy_id],
resume_experience_collection_cv[policy_id],
)
learner_worker.start_process()
learner_worker.init()
self.learner_workers[policy_id] = learner_worker
learner_idx += 1
log.info('Initializing policy workers...')
for policy_id in range(self.cfg.num_policies):
self.policy_workers[policy_id] = []
policy_queue = faster_fifo.Queue()
self.policy_queues[policy_id] = policy_queue
for i in range(self.cfg.policy_workers_per_policy):
policy_worker = PolicyWorker(
i,
policy_id,
self.cfg,
self.obs_space,
self.action_space,
self.traj_buffers,
policy_queue,
actor_queues,
self.report_queue,
policy_worker_queues[policy_id][i],
policy_locks[policy_id],
resume_experience_collection_cv[policy_id],
)
self.policy_workers[policy_id].append(policy_worker)
policy_worker.start_process()
log.info('Initializing actors...')
self.actor_workers = []
max_parallel_init = int(
1e9) # might be useful to limit this for some envs
worker_indices = list(range(self.cfg.num_workers))
for i in range(0, self.cfg.num_workers, max_parallel_init):
workers = self.init_subset(worker_indices[i:i + max_parallel_init],
actor_queues)
self.actor_workers.extend(workers)