Bugfix/parallel launcher for linux (#1141)

Closes: #1121

CHANGELOG.md

@@ -3,6 +3,8 @@
 ## Release 1.1.0
 
 ### Api Extensions
+- `evaluation`: New package for repeating the same experiment with multiple seeds and aggregating the results. #1074 #1141
+  - The module `evaluation.launchers` for parallelization is currently in alpha state.
 - `data`:
   - `Batch`:
     - Add methods `to_dict` and `to_list_of_dicts`. #1063 #1098
@@ -24,7 +26,7 @@
   - `SamplingConfig`:
     - Add support for `batch_size=None`. #1077 
     - Add `training_seed` for explicit seeding of training and test environments, the `test_seed` is inferred from `training_seed`. #1074
-  - `highlevel.experiment`: 
+  - `experiment`: 
      - `Experiment` now has a `name` attribute, which can be set using `ExperimentBuilder.with_name` and 
        which determines the default run name and therefore the persistence subdirectory.
        It can still be overridden in `Experiment.run()`, the new parameter name being `run_name` rather than
@@ -34,8 +36,8 @@
          - Add method `build_seeded_collection` for the sound creation of multiple
            experiments with varying random seeds #1131
          - Add method `copy` to facilitate the creation of multiple experiments from a single builder #1131
-- `evaluation`: New package for repeating the same experiment with multiple seeds and aggregating the results. #1074
+  - `env`:
-  - The module `evaluation.launchers` for parallelization is currently in alpha state. 
+    - Added new `VectorEnvType` called `SUBPROC_SHARED_MEM_AUTO` and used in for Atari and Mujoco venv creation. #1141
 - Loggers can now restore the logged data into python by using the new `restore_logged_data` method. #1074
 - `utils`:
   - `net.continuous.Critic`:
@@ -45,6 +47,8 @@
       to reuse the actor's preprocessing network #1128
   - `torch_utils` (new module)
     - Added context managers `torch_train_mode` and `policy_within_training_step` #1123
+  - `print`
+    - `DataclassPPrintMixin` now supports outputting a string, not just printing the pretty repr. #1141
 
 ### Fixes
 - `CriticFactoryReuseActor`: Enable the Critic flag `apply_preprocess_net_to_obs_only` for continuous critics, 

examples/atari/atari_wrapper.py

@@ -397,6 +397,7 @@ class AtariEnvFactory(EnvFactoryRegistered):
         frame_stack: int,
         scale: bool = False,
         use_envpool_if_available: bool = True,
+        venv_type: VectorEnvType = VectorEnvType.SUBPROC_SHARED_MEM_AUTO,
     ) -> None:
         assert "NoFrameskip" in task
         self.frame_stack = frame_stack
@@ -412,7 +413,7 @@ class AtariEnvFactory(EnvFactoryRegistered):
             task=task,
             train_seed=train_seed,
             test_seed=test_seed,
-            venv_type=VectorEnvType.SUBPROC_SHARED_MEM,
+            venv_type=venv_type,
             envpool_factory=envpool_factory,
         )
 

examples/mujoco/mujoco_env.py

@@ -76,7 +76,7 @@ class MujocoEnvFactory(EnvFactoryRegistered):
         train_seed: int,
         test_seed: int,
         obs_norm: bool = True,
-        venv_type: VectorEnvType = VectorEnvType.SUBPROC_SHARED_MEM,
+        venv_type: VectorEnvType = VectorEnvType.SUBPROC_SHARED_MEM_AUTO,
     ) -> None:
         super().__init__(
             task=task,

examples/mujoco/mujoco_ppo_hl_multi.py

@@ -6,14 +6,13 @@ For each repetition, a policy seed, train env seeds, and test env seeds are set
 are non-intersecting with the seeds of the other experiments.
 Each experiment's results are stored in a separate subdirectory.
 
-The final results are aggregated and turned into useful statistics with the rliable API.
+The final results are aggregated and turned into useful statistics with the rliable package.
 The call to `eval_experiments` will load the results from the log directory and
 create an interp-quantile mean plot for the returns as well as a performance profile plot.
 These plots are saved in the log directory and displayed in the console.
 """
 
 import os
-import sys
 
 import torch
 
@@ -21,7 +20,6 @@ from examples.mujoco.mujoco_env import MujocoEnvFactory
 from tianshou.evaluation.launcher import RegisteredExpLauncher
 from tianshou.evaluation.rliable_evaluation_hl import RLiableExperimentResult
 from tianshou.highlevel.config import SamplingConfig
-from tianshou.highlevel.env import VectorEnvType
 from tianshou.highlevel.experiment import (
     ExperimentConfig,
     PPOExperimentBuilder,
@@ -39,14 +37,14 @@ log = logging.getLogger(__name__)
 
 
 def main(
-    num_experiments: int = 2,
+    num_experiments: int = 5,
-    run_experiments_sequentially: bool = True,
+    run_experiments_sequentially: bool = False,
 ) -> RLiableExperimentResult:
-    """:param run_experiments_sequentially: if True, the experiments are run sequentially, otherwise in parallel.
+    """:param num_experiments: the number of experiments to run. The experiments differ exclusively in the seeds.
-        LIMITATIONS: currently, the parallel execution does not seem to work properly on linux.
+    :param run_experiments_sequentially: if True, the experiments are run sequentially, otherwise in parallel.
-        It might generally be undesired to run multiple experiments in parallel on the same machine,
+        If a single experiment is set to use all available CPU cores,
-        as a single experiment already uses all available CPU cores by default.
+        it might be undesired to run multiple experiments in parallel on the same machine,
-    :return: the directory where the results are stored
+    :return: an object containing rliable-based evaluation results
     """
     task = "Ant-v4"
     persistence_dir = os.path.abspath(os.path.join("log", task, "ppo", datetime_tag()))
@@ -57,12 +55,12 @@ def main(
         num_epochs=1,
         step_per_epoch=5000,
         batch_size=64,
-        num_train_envs=10,
+        num_train_envs=5,
-        num_test_envs=10,
+        num_test_envs=5,
-        num_test_episodes=10,
+        num_test_episodes=5,
         buffer_size=4096,
         step_per_collect=2048,
-        repeat_per_collect=10,
+        repeat_per_collect=1,
     )
 
     env_factory = MujocoEnvFactory(
@@ -70,9 +68,6 @@ def main(
         train_seed=sampling_config.train_seed,
         test_seed=sampling_config.test_seed,
         obs_norm=True,
-        venv_type=VectorEnvType.SUBPROC_SHARED_MEM_FORK_CONTEXT
-        if sys.platform == "darwin"
-        else VectorEnvType.SUBPROC_SHARED_MEM,
     )
 
     hidden_sizes = (64, 64)
@@ -108,7 +103,18 @@ def main(
         launcher = RegisteredExpLauncher.sequential.create_launcher()
     else:
         launcher = RegisteredExpLauncher.joblib.create_launcher()
-    experiment_collection.run(launcher)
+    successful_experiment_stats = experiment_collection.run(launcher)
+    log.info(f"Successfully completed {len(successful_experiment_stats)} experiments.")
+
+    num_successful_experiments = len(successful_experiment_stats)
+    for i, info_stats in enumerate(successful_experiment_stats, start=1):
+        if info_stats is not None:
+            log.info(f"Training stats for successful experiment {i}/{num_successful_experiments}:")
+            log.info(info_stats.pprints_asdict())
+        else:
+            log.info(
+                f"No training stats available for successful experiment {i}/{num_successful_experiments}.",
+            )
 
     rliable_result = RLiableExperimentResult.load_from_disk(persistence_dir)
     rliable_result.eval_results(show_plots=True, save_plots=True)

tianshou/evaluation/launcher.py

@@ -2,7 +2,7 @@
 
 import logging
 from abc import ABC, abstractmethod
-from collections.abc import Sequence
+from collections.abc import Callable, Sequence
 from copy import copy
 from dataclasses import asdict, dataclass
 from enum import Enum
@@ -10,6 +10,7 @@ from typing import Literal
 
 from joblib import Parallel, delayed
 
+from tianshou.data import InfoStats
 from tianshou.highlevel.experiment import Experiment
 
 log = logging.getLogger(__name__)
@@ -26,19 +27,89 @@ class JoblibConfig:
 
 
 class ExpLauncher(ABC):
+    def __init__(
+        self,
+        experiment_runner: Callable[
+            [Experiment],
+            InfoStats | None,
+        ] = lambda exp: exp.run().trainer_result,
+    ):
+        """:param experiment_runner: can be used to override the default way in which an experiment is executed.
+        Can be useful e.g., if one wants to use the high-level interfaces to setup an experiment (or an experiment
+        collection) and tinker with it prior to execution. This need often arises when prototyping with mechanisms
+        that are not yet supported by the high-level interfaces.
+        Passing this allows arbitrary things to happen during experiment execution, so use it with caution!
+        """
+        self.experiment_runner = experiment_runner
+
     @abstractmethod
-    def launch(self, experiments: Sequence[Experiment]) -> None:
+    def _launch(self, experiments: Sequence[Experiment]) -> list[InfoStats | None]:
-        pass
+        """Should call `self.experiment_runner` for each experiment in experiments and aggregate the results."""
+
+    def _safe_execute(self, exp: Experiment) -> InfoStats | None | Literal["failed"]:
+        try:
+            return self.experiment_runner(exp)
+        except BaseException as e:
+            log.error(f"Failed to run experiment {exp}.", exc_info=e)
+            return "failed"
+
+    @staticmethod
+    def _return_from_successful_and_failed_exps(
+        successful_exp_stats: list[InfoStats | None],
+        failed_exps: list[Experiment],
+    ) -> list[InfoStats | None]:
+        if not successful_exp_stats:
+            raise RuntimeError("All experiments failed, see error logs for more details.")
+        if failed_exps:
+            log.error(
+                f"Failed to run the following "
+                f"{len(failed_exps)}/{len(successful_exp_stats) + len(failed_exps)} experiments: {failed_exps}. "
+                f"See the logs for more details. "
+                f"Returning the results of {len(successful_exp_stats)} successful experiments.",
+            )
+        return successful_exp_stats
+
+    def launch(self, experiments: Sequence[Experiment]) -> list[InfoStats | None]:
+        """Will return the results of successfully executed experiments.
+
+        If a single experiment is passed, will not use parallelism and run it in the main process.
+        Failed experiments will be logged, and a RuntimeError is only raised if all experiments have failed.
+        """
+        if len(experiments) == 1:
+            log.info(
+                "A single experiment is being run, will not use parallelism and run it in the main process.",
+            )
+            return [self.experiment_runner(experiments[0])]
+        return self._launch(experiments)
 
 
 class SequentialExpLauncher(ExpLauncher):
-    def launch(self, experiments: Sequence[Experiment]) -> None:
+    """Convenience wrapper around a simple for loop to run experiments sequentially."""
+
+    def _launch(self, experiments: Sequence[Experiment]) -> list[InfoStats | None]:
+        successful_exp_stats = []
+        failed_exps = []
         for exp in experiments:
-            exp.run()
+            for exp in experiments:
+                exp_stats = self._safe_execute(exp)
+                if exp_stats == "failed":
+                    failed_exps.append(exp)
+                else:
+                    successful_exp_stats.append(exp_stats)
+        # noinspection PyTypeChecker
+        return self._return_from_successful_and_failed_exps(successful_exp_stats, failed_exps)
 
 
 class JoblibExpLauncher(ExpLauncher):
-    def __init__(self, joblib_cfg: JoblibConfig | None = None) -> None:
+    def __init__(
+        self,
+        joblib_cfg: JoblibConfig | None = None,
+        experiment_runner: Callable[
+            [Experiment],
+            InfoStats | None,
+        ] = lambda exp: exp.run().trainer_result,
+    ) -> None:
+        super().__init__(experiment_runner=experiment_runner)
         self.joblib_cfg = copy(joblib_cfg) if joblib_cfg is not None else JoblibConfig()
         # Joblib's backend is hard-coded to loky since the threading backend produces different results
         if self.joblib_cfg.backend != "loky":
@@ -48,15 +119,18 @@ class JoblibExpLauncher(ExpLauncher):
             )
             self.joblib_cfg.backend = "loky"
 
-    def launch(self, experiments: Sequence[Experiment]) -> None:
+    def _launch(self, experiments: Sequence[Experiment]) -> list[InfoStats | None]:
-        Parallel(**asdict(self.joblib_cfg))(delayed(self._safe_execute)(exp) for exp in experiments)
+        results = Parallel(**asdict(self.joblib_cfg))(
-
+            delayed(self._safe_execute)(exp) for exp in experiments
-    @staticmethod
+        )
-    def _safe_execute(exp: Experiment) -> None:
+        successful_exps = []
-        try:
+        failed_exps = []
-            exp.run()
+        for exp, result in zip(experiments, results, strict=True):
-        except BaseException as e:
+            if result == "failed":
-            log.error(e)
+                failed_exps.append(exp)
+            else:
+                successful_exps.append(result)
+        return self._return_from_successful_and_failed_exps(successful_exps, failed_exps)
 
 
 class RegisteredExpLauncher(Enum):

tianshou/highlevel/config.py

@@ -85,7 +85,7 @@ class SamplingConfig(ToStringMixin):
     """
     controls, within one gradient update step of an on-policy algorithm, the number of times an
     actual gradient update is applied using the full collected dataset, i.e. if the parameter is
-    `n`, then the collected data shall be used five times to update the policy within the same
+    5, then the collected data shall be used five times to update the policy within the same
     training step.
 
     The parameter is ignored and may be set to None for off-policy and offline algorithms.

tianshou/highlevel/env.py

@@ -1,4 +1,5 @@
 import logging
+import platform
 from abc import ABC, abstractmethod
 from collections.abc import Callable, Sequence
 from enum import Enum
@@ -66,13 +67,15 @@ class VectorEnvType(Enum):
     """Vectorized environment without parallelization; environments are processed sequentially"""
     SUBPROC = "subproc"
     """Parallelization based on `subprocess`"""
-    SUBPROC_SHARED_MEM = "shmem"
+    SUBPROC_SHARED_MEM_DEFAULT_CONTEXT = "shmem"
     """Parallelization based on `subprocess` with shared memory"""
     SUBPROC_SHARED_MEM_FORK_CONTEXT = "shmem_fork"
     """Parallelization based on `subprocess` with shared memory and fork context (relevant for macOS, which uses `spawn`
      by default https://docs.python.org/3/library/multiprocessing.html#contexts-and-start-methods)"""
     RAY = "ray"
     """Parallelization based on the `ray` library"""
+    SUBPROC_SHARED_MEM_AUTO = "subproc_shared_mem_auto"
+    """Parallelization based on `subprocess` with shared memory, using default context on windows and fork context otherwise"""
 
     def create_venv(
         self,
@@ -83,10 +86,16 @@ class VectorEnvType(Enum):
                 return DummyVectorEnv(factories)
             case VectorEnvType.SUBPROC:
                 return SubprocVectorEnv(factories)
-            case VectorEnvType.SUBPROC_SHARED_MEM:
+            case VectorEnvType.SUBPROC_SHARED_MEM_DEFAULT_CONTEXT:
                 return SubprocVectorEnv(factories, share_memory=True)
             case VectorEnvType.SUBPROC_SHARED_MEM_FORK_CONTEXT:
                 return SubprocVectorEnv(factories, share_memory=True, context="fork")
+            case VectorEnvType.SUBPROC_SHARED_MEM_AUTO:
+                if platform.system().lower() == "windows":
+                    selected_venv_type = VectorEnvType.SUBPROC_SHARED_MEM_DEFAULT_CONTEXT
+                else:
+                    selected_venv_type = VectorEnvType.SUBPROC_SHARED_MEM_FORK_CONTEXT
+                return selected_venv_type.create_venv(factories)
             case VectorEnvType.RAY:
                 return RayVectorEnv(factories)
             case _:

tianshou/highlevel/experiment.py

@@ -87,7 +87,6 @@ from tianshou.utils.string import ToStringMixin
 if TYPE_CHECKING:
     from tianshou.evaluation.launcher import ExpLauncher, RegisteredExpLauncher
 
-
 log = logging.getLogger(__name__)
 
 
@@ -356,15 +355,20 @@ class Experiment(ToStringMixin):
 
 
 class ExperimentCollection:
+    """Shallow wrapper around a list of experiments providing a simple interface for running them with a launcher."""
+
     def __init__(self, experiments: list[Experiment]):
         self.experiments = experiments
 
-    def run(self, launcher: Union["ExpLauncher", "RegisteredExpLauncher"]) -> None:
+    def run(
+        self,
+        launcher: Union["ExpLauncher", "RegisteredExpLauncher"],
+    ) -> list[InfoStats | None]:
         from tianshou.evaluation.launcher import RegisteredExpLauncher
 
         if isinstance(launcher, RegisteredExpLauncher):
             launcher = launcher.create_launcher()
-        launcher.launch(experiments=self.experiments)
+        return launcher.launch(experiments=self.experiments)
 
 
 class ExperimentBuilder:

tianshou/utils/print.py

@@ -1,20 +1,29 @@
+import pprint
 from collections.abc import Sequence
 from dataclasses import asdict, dataclass
-from pprint import pprint
 
 
 @dataclass
 class DataclassPPrintMixin:
-    def pprint_asdict(self, exclude_fields: Sequence[str] | None = None) -> None:
+    def pprint_asdict(self, exclude_fields: Sequence[str] | None = None, indent: int = 4) -> None:
         """Pretty-print the object as a dict, excluding specified fields.
 
         :param exclude_fields: A sequence of field names to exclude from the output.
             If None, no fields are excluded.
+        :param indent: The indentation to use when pretty-printing.
         """
-        print(f"{self.__class__.__name__}")
+        print(self.pprints_asdict(exclude_fields=exclude_fields, indent=indent))
-        print("----------------------------------------")
+
+    def pprints_asdict(self, exclude_fields: Sequence[str] | None = None, indent: int = 4) -> str:
+        """String corresponding to pretty-print of the object as a dict, excluding specified fields.
+
+        :param exclude_fields: A sequence of field names to exclude from the output.
+            If None, no fields are excluded.
+        :param indent: The indentation to use when pretty-printing.
+        """
+        prefix = f"{self.__class__.__name__}\n----------------------------------------\n"
         print_dict = asdict(self)
         exclude_fields = exclude_fields or []
         for field in exclude_fields:
             print_dict.pop(field, None)
-        pprint(print_dict)
+        return prefix + pprint.pformat(print_dict, indent=indent)