下面的解决方案应该适用于python multiprocessing和pytorch multiprocessing。
正如其他答案提到的修复是有if __name__ == '__main__':但我在确定从哪里开始时遇到了几个问题，因为我正在使用几个脚本和模块。当我可以在main内部调用我的第一个函数时，然后在它开始创建多个进程之前的一切(不确定为什么)。
将它放在第一行(甚至在导入之前)可以工作。只调用第一个函数返回超时错误。下面是我的代码和multiprocessing的第一个文件调用几个函数后使用，但把主要放在第一个似乎是这里唯一的修复。
if __name__ == '__main__':
from mjrl.utils.gym_env import GymEnv
from mjrl.policies.gaussian_mlp import MLP
from mjrl.baselines.quadratic_baseline import QuadraticBaseline
from mjrl.baselines.mlp_baseline import MLPBaseline
from mjrl.algos.npg_cg import NPG
from mjrl.algos.dapg import DAPG
from mjrl.algos.behavior_cloning import BC
from mjrl.utils.train_agent import train_agent
from mjrl.samplers.core import sample_paths
import os
import json
import mjrl.envs
import mj_envs
import time as timer
import pickle
import argparse
import numpy as np
# ===============================================================================
# Get command line arguments
# ===============================================================================
parser = argparse.ArgumentParser(description='Policy gradient algorithms with demonstration data.')
parser.add_argument('--output', type=str, required=True, help='location to store results')
parser.add_argument('--config', type=str, required=True, help='path to config file with exp params')
args = parser.parse_args()
JOB_DIR = args.output
if not os.path.exists(JOB_DIR):
os.mkdir(JOB_DIR)
with open(args.config, 'r') as f:
job_data = eval(f.read())
assert 'algorithm' in job_data.keys()
assert any([job_data['algorithm'] == a for a in ['NPG', 'BCRL', 'DAPG']])
job_data['lam_0'] = 0.0 if 'lam_0' not in job_data.keys() else job_data['lam_0']
job_data['lam_1'] = 0.0 if 'lam_1' not in job_data.keys() else job_data['lam_1']
EXP_FILE = JOB_DIR + '/job_config.json'
with open(EXP_FILE, 'w') as f:
json.dump(job_data, f, indent=4)
# ===============================================================================
# Train Loop
# ===============================================================================
e = GymEnv(job_data['env'])
policy = MLP(e.spec, hidden_sizes=job_data['policy_size'], seed=job_data['seed'])
baseline = MLPBaseline(e.spec, reg_coef=1e-3, batch_size=job_data['vf_batch_size'],
epochs=job_data['vf_epochs'], learn_rate=job_data['vf_learn_rate'])
# Get demonstration data if necessary and behavior clone
if job_data['algorithm'] != 'NPG':
print("========================================")
print("Collecting expert demonstrations")
print("========================================")
demo_paths = pickle.load(open(job_data['demo_file'], 'rb'))
########################################################################################
demo_paths = demo_paths[0:3]
print (job_data['demo_file'], len(demo_paths))
for d in range(len(demo_paths)):
feats = demo_paths[d]['features']
feats = np.vstack(feats)
demo_paths[d]['observations'] = feats
########################################################################################
bc_agent = BC(demo_paths, policy=policy, epochs=job_data['bc_epochs'], batch_size=job_data['bc_batch_size'],
lr=job_data['bc_learn_rate'], loss_type='MSE', set_transforms=False)
in_shift, in_scale, out_shift, out_scale = bc_agent.compute_transformations()
bc_agent.set_transformations(in_shift, in_scale, out_shift, out_scale)
bc_agent.set_variance_with_data(out_scale)
ts = timer.time()
print("========================================")
print("Running BC with expert demonstrations")
print("========================================")
bc_agent.train()
print("========================================")
print("BC training complete !!!")
print("time taken = %f" % (timer.time() - ts))
print("========================================")
# if job_data['eval_rollouts'] >= 1:
# score = e.evaluate_policy(policy, num_episodes=job_data['eval_rollouts'], mean_action=True)
# print("Score with behavior cloning = %f" % score[0][0])
if job_data['algorithm'] != 'DAPG':
# We throw away the demo data when training from scratch or fine-tuning with RL without explicit augmentation
demo_paths = None
# ===============================================================================
# RL Loop
# ===============================================================================
rl_agent = DAPG(e, policy, baseline, demo_paths,
normalized_step_size=job_data['rl_step_size'],
lam_0=job_data['lam_0'], lam_1=job_data['lam_1'],
seed=job_data['seed'], save_logs=True
)
print("========================================")
print("Starting reinforcement learning phase")
print("========================================")
ts = timer.time()
train_agent(job_name=JOB_DIR,
agent=rl_agent,
seed=job_data['seed'],
niter=job_data['rl_num_iter'],
gamma=job_data['rl_gamma'],
gae_lambda=job_data['rl_gae'],
num_cpu=job_data['num_cpu'],
sample_mode='trajectories',
num_traj=job_data['rl_num_traj'],
num_samples= job_data['rl_num_samples'],
save_freq=job_data['save_freq'],
evaluation_rollouts=job_data['eval_rollouts'])
print("time taken = %f" % (timer.time()-ts))
