84 lines
2.8 KiB
Python
84 lines
2.8 KiB
Python
import numpy as np
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from multiprocessing import Process, Pipe
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from baselines.common.vec_env import VecEnv, CloudpickleWrapper
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def worker(remote, parent_remote, env_fn_wrapper):
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parent_remote.close()
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env = env_fn_wrapper.x()
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while True:
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cmd, data = remote.recv()
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if cmd == 'step':
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ob, reward, done, info = env.step(data)
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if done:
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ob = env.reset()
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remote.send((ob, reward, done, info))
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elif cmd == 'reset':
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ob = env.reset()
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remote.send(ob)
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elif cmd == 'reset_task':
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ob = env.reset_task()
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remote.send(ob)
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elif cmd == 'close':
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remote.close()
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break
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elif cmd == 'get_spaces':
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remote.send((env.observation_space, env.action_space))
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else:
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raise NotImplementedError
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class SubprocVecEnv(VecEnv):
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def __init__(self, env_fns, spaces=None):
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"""
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envs: list of gym environments to run in subprocesses
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"""
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self.waiting = False
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self.closed = False
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nenvs = len(env_fns)
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self.remotes, self.work_remotes = zip(*[Pipe() for _ in range(nenvs)])
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self.ps = [Process(target=worker, args=(work_remote, remote, CloudpickleWrapper(env_fn)))
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for (work_remote, remote, env_fn) in zip(self.work_remotes, self.remotes, env_fns)]
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for p in self.ps:
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p.daemon = True # if the main process crashes, we should not cause things to hang
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p.start()
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for remote in self.work_remotes:
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remote.close()
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self.remotes[0].send(('get_spaces', None))
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observation_space, action_space = self.remotes[0].recv()
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VecEnv.__init__(self, len(env_fns), observation_space, action_space)
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def step_async(self, actions):
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for remote, action in zip(self.remotes, actions):
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remote.send(('step', action))
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self.waiting = True
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def step_wait(self):
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results = [remote.recv() for remote in self.remotes]
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self.waiting = False
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obs, rews, dones, infos = zip(*results)
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return np.stack(obs), np.stack(rews), np.stack(dones), infos
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def reset(self):
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for remote in self.remotes:
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remote.send(('reset', None))
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return np.stack([remote.recv() for remote in self.remotes])
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def reset_task(self):
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for remote in self.remotes:
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remote.send(('reset_task', None))
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return np.stack([remote.recv() for remote in self.remotes])
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def close(self):
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if self.closed:
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return
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if self.waiting:
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for remote in self.remotes:
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remote.recv()
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for remote in self.remotes:
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remote.send(('close', None))
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for p in self.ps:
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p.join()
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self.closed = True
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