Monitor and Recorder are Wrappers.

environments/factory/base/base_factory.py

@@ -65,7 +65,7 @@ class BaseFactory(gym.Env):
     def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2),
                  mv_prop: MovementProperties = MovementProperties(),
                  obs_prop: ObservationProperties = ObservationProperties(),
-                 parse_doors=False, record_episodes=False, done_at_collision=False,
+                 parse_doors=False, done_at_collision=False,
                  verbose=False, doors_have_area=True, env_seed=time.time_ns(), individual_rewards=False,
                  **kwargs):
 
@@ -97,7 +97,7 @@ class BaseFactory(gym.Env):
         self._pomdp_r = self.obs_prop.pomdp_r
 
         self.done_at_collision = done_at_collision
-        self.record_episodes = record_episodes
+        self._record_episodes = False
         self.parse_doors = parse_doors
         self.doors_have_area = doors_have_area
         self.individual_rewards = individual_rewards
@@ -249,7 +249,7 @@ class BaseFactory(gym.Env):
         if self._steps >= self.max_steps:
             done = True
         info.update(step_reward=reward, step=self._steps)
-        if self.record_episodes:
+        if self._record_episodes:
             info.update(self._summarize_state())
 
         # Post step Hook for later use
@@ -280,7 +280,7 @@ class BaseFactory(gym.Env):
         if self.n_agents == 1:
             obs = self._build_per_agent_obs(self[c.AGENT][0], state_array_dict)
         elif self.n_agents >= 2:
-            obs = np.stack([self._build_per_agent_obs(agent, state_array_dict) for agent in self[c.AGENT]])
+            obs = np.stack(self._build_per_agent_obs(agent, state_array_dict) for agent in self[c.AGENT])
         else:
             raise ValueError('n_agents cannot be smaller than 1!!')
         return obs
@@ -290,9 +290,6 @@ class BaseFactory(gym.Env):
         agent_omit_idx = None
 
         if self.obs_prop.omit_agent_self and self.n_agents == 1:
-            # There is only a single agent and we want to omit the agent obs, so just remove the array.
-            # del state_array_dict[c.AGENT]
-            # Not Needed any more,
             pass
         elif self.obs_prop.omit_agent_self and self.obs_prop.render_agents in [a_obs.COMBINED, ] and self.n_agents > 1:
             state_array_dict[c.AGENT][0, agent.x, agent.y] -= agent.encoding
@@ -439,7 +436,7 @@ class BaseFactory(gym.Env):
         tiles_with_collisions = list()
         for tile in self[c.FLOOR]:
             if tile.is_occupied():
-                guests = [guest for guest in tile.guests if guest.can_collide]
+                guests = tile.guests_that_can_collide
                 if len(guests) >= 2:
                     tiles_with_collisions.append(tile)
         return tiles_with_collisions
@@ -521,7 +518,7 @@ class BaseFactory(gym.Env):
                 per_agent_info_dict[agent.name].update(no_op=1)
                 # per_agent_reward -= 0.00
 
-            # Monitor Notes
+            # EnvMonitor Notes
             if agent.temp_valid:
                 per_agent_info_dict[agent.name].update(valid_action=1)
                 per_agent_info_dict[agent.name].update({f'{agent.name}_valid_action': 1})

environments/factory/base/objects.py

@@ -209,7 +209,7 @@ class Tile(Object):
         return not len(self._guests)
 
     def is_occupied(self):
-        return len(self._guests)
+        return bool(len(self._guests))
 
     def enter(self, guest):
         if guest.name not in self._guests:

environments/factory/factory_dirt.py

@@ -28,7 +28,7 @@ class DirtProperties(NamedTuple):
     max_global_amount: int = 20             # Max dirt amount in the whole environment.
     dirt_smear_amount: float = 0.2          # Agents smear dirt, when not cleaning up in place.
     agent_can_interact: bool = True         # Whether the agents can interact with the dirt in this environment.
-    done_when_clean = True
+    done_when_clean: bool = True
 
 
 class Dirt(Entity):
@@ -228,14 +228,14 @@ class DirtFactory(BaseFactory):
         dirt = [dirt.amount for dirt in self[c.DIRT]]
         current_dirt_amount = sum(dirt)
         dirty_tile_count = len(dirt)
-        if dirty_tile_count:
-            dirt_distribution_score = entropy(softmax(np.asarray(dirt)) / dirty_tile_count)
-        else:
-            dirt_distribution_score = 0
+        # if dirty_tile_count:
+        #    dirt_distribution_score = entropy(softmax(np.asarray(dirt)) / dirty_tile_count)
+        #else:
+        #    dirt_distribution_score = 0
 
         info_dict.update(dirt_amount=current_dirt_amount)
         info_dict.update(dirty_tile_count=dirty_tile_count)
-        info_dict.update(dirt_distribution_score=dirt_distribution_score)
+        # info_dict.update(dirt_distribution_score=dirt_distribution_score)
 
         if agent.temp_action == CLEAN_UP_ACTION:
             if agent.temp_valid:

environments/logging/envmonitor.py

@@ -1,7 +1,7 @@
 import pickle
 from collections import defaultdict
 from pathlib import Path
-from typing import List, Dict
+from typing import List, Dict, Union
 
 from stable_baselines3.common.callbacks import BaseCallback
 
@@ -10,57 +10,50 @@ from environments.helpers import IGNORED_DF_COLUMNS
 import pandas as pd
 
 
-class MonitorCallback(BaseCallback):
+class EnvMonitor(BaseCallback):
 
     ext = 'png'
 
-    def __init__(self, filepath=Path('debug_out/monitor.pick')):
-        super(MonitorCallback, self).__init__()
-        self.filepath = Path(filepath)
+    def __init__(self, env):
+        super(EnvMonitor, self).__init__()
+        self.unwrapped = env
         self._monitor_df = pd.DataFrame()
         self._monitor_dicts = defaultdict(dict)
-        self.started = False
-        self.closed = False
 
-    def __enter__(self):
-        self.start()
-        return self
+    def __getattr__(self, item):
+        return getattr(self.unwrapped, item)
 
-    def __exit__(self, exc_type, exc_val, exc_tb):
-        self.stop()
+    def step(self, action):
+        obs, reward, done, info = self.unwrapped.step(action)
+        self._read_info(0, info)
+        self._read_done(0, done)
+        return obs, reward, done, info
+
+    def reset(self):
+        return self.unwrapped.reset()
 
     def _on_training_start(self) -> None:
-        if self.started:
-            pass
-        else:
-            self.start()
         pass
 
     def _on_training_end(self) -> None:
-        if self.closed:
         pass
-        else:
-            self.stop()
 
     def _on_step(self, alt_infos: List[Dict] = None, alt_dones: List[bool] = None) -> bool:
-        if self.started:
         for env_idx, info in enumerate(self.locals.get('infos', [])):
-                self.read_info(env_idx, info)
+            self._read_info(env_idx, info)
 
         for env_idx, done in list(
                 enumerate(self.locals.get('dones', []))) + list(enumerate(self.locals.get('done', []))):
-                self.read_done(env_idx, done)
-        else:
-            pass
+            self._read_done(env_idx, done)
         return True
 
-    def read_info(self, env_idx, info: dict):
+    def _read_info(self, env_idx, info: dict):
         self._monitor_dicts[env_idx][len(self._monitor_dicts[env_idx])] = {
             key: val for key, val in info.items() if
             key not in ['terminal_observation', 'episode'] and not key.startswith('rec_')}
         return
 
-    def read_done(self, env_idx, done):
+    def _read_done(self, env_idx, done):
         if done:
             env_monitor_df = pd.DataFrame.from_dict(self._monitor_dicts[env_idx], orient='index')
             self._monitor_dicts[env_idx] = dict()
@@ -74,16 +67,8 @@ class MonitorCallback(BaseCallback):
             pass
         return
 
-    def stop(self):
-        # self.out_file.unlink(missing_ok=True)
-        with self.filepath.open('wb') as f:
+    def save_run(self, filepath: Union[Path, str]):
+        filepath = Path(filepath)
+        filepath.parent.mkdir(exist_ok=True, parents=True)
+        with filepath.open('wb') as f:
             pickle.dump(self._monitor_df.reset_index(), f, protocol=pickle.HIGHEST_PROTOCOL)
-        self.closed = True
-
-    def start(self):
-        if self.started:
-            pass
-        else:
-            self.filepath.parent.mkdir(exist_ok=True, parents=True)
-            self.started = True
-        pass

environments/logging/recorder.py

@@ -1,4 +1,3 @@
-import json
 from collections import defaultdict
 from pathlib import Path
 from typing import Union
@@ -11,22 +10,13 @@ from stable_baselines3.common.callbacks import BaseCallback
 from environments.factory.base.base_factory import REC_TAC
 
 
-# noinspection PyAttributeOutsideInit
-from environments.helpers import Constants as c
+class EnvRecorder(BaseCallback):
 
-
-class RecorderCallback(BaseCallback):
-
-    def __init__(self, filepath: Union[str, Path], occupation_map: bool = False, trajectory_map: bool = False,
-                 entities='all'):
-        super(RecorderCallback, self).__init__()
-        self.trajectory_map = trajectory_map
-        self.occupation_map = occupation_map
-        self.filepath = Path(filepath)
+    def __init__(self, env, entities='all'):
+        super(EnvRecorder, self).__init__()
+        self.unwrapped = env
         self._recorder_dict = defaultdict(list)
         self._recorder_out_list = list()
-        self._env_params = None
-        self.do_record: bool
         if isinstance(entities, str):
             if entities.lower() == 'all':
                 self._entities = None
@@ -37,10 +27,18 @@ class RecorderCallback(BaseCallback):
         self.started = False
         self.closed = False
 
-    def read_params(self, params):
-        self._env_params = params
+    def __getattr__(self, item):
+        return getattr(self.unwrapped, item)
 
-    def read_info(self, env_idx, info: dict):
+    def reset(self):
+        self.unwrapped._record_episodes = True
+        return self.unwrapped.reset()
+
+    def _on_training_start(self) -> None:
+        self.unwrapped._record_episodes = True
+        pass
+
+    def _read_info(self, env_idx, info: dict):
         if info_dict := {key.replace(REC_TAC, ''): val for key, val in info.items() if key.startswith(f'{REC_TAC}')}:
             if self._entities:
                 info_dict = {k: v for k, v in info_dict.items() if k in self._entities}
@@ -51,7 +49,7 @@ class RecorderCallback(BaseCallback):
             pass
         return
 
-    def read_done(self, env_idx, done):
+    def _read_done(self, env_idx, done):
         if done:
             self._recorder_out_list.append({'steps': self._recorder_dict[env_idx],
                                             'episode': len(self._recorder_out_list)})
@@ -59,25 +57,18 @@ class RecorderCallback(BaseCallback):
         else:
             pass
 
-    def start(self, force=False):
-        if (hasattr(self.training_env, 'record_episodes') and self.training_env.record_episodes) or force:
-            self.do_record = True
-            self.filepath.parent.mkdir(exist_ok=True, parents=True)
-            self.started = True
-        else:
-            self.do_record = False
-
-    def stop(self):
-        if self.do_record and self.started:
+    def save_records(self, filepath: Union[Path, str], save_occupation_map=False, save_trajectory_map=False):
+        filepath = Path(filepath)
+        filepath.parent.mkdir(exist_ok=True, parents=True)
         # self.out_file.unlink(missing_ok=True)
-            with self.filepath.open('w') as f:
-                out_dict = {'episodes': self._recorder_out_list, 'header': self._env_params}
+        with filepath.open('w') as f:
+            out_dict = {'episodes': self._recorder_out_list, 'header': self.unwrapped.params}
             try:
                 simplejson.dump(out_dict, f, indent=4)
             except TypeError:
                 print('Shit')
 
-            if self.occupation_map:
+        if save_occupation_map:
             a = np.zeros((15, 15))
             for episode in out_dict['episodes']:
                 df = pd.DataFrame([y for x in episode['steps'] for y in x['Agents']])
@@ -93,43 +84,19 @@ class RecorderCallback(BaseCallback):
             hm.set_title('Very Nice Heatmap')
             plt.show()
 
-            if self.trajectory_map:
-                print('Recorder files were dumped to disk, now plotting the occupation map...')
-
-            self.closed = True
-            self.started = False
-        else:
-            pass
+        if save_trajectory_map:
+            raise NotImplementedError('This has not yet been implemented.')
 
     def _on_step(self) -> bool:
-        if self.do_record and self.started:
         for env_idx, info in enumerate(self.locals.get('infos', [])):
-                self.read_info(env_idx, info)
+            self._read_info(env_idx, info)
+
+        dones = list(enumerate(self.locals.get('dones', [])))
+        dones.extend(list(enumerate(self.locals.get('done', []))))
+        for env_idx, done in dones:
+            self._read_done(env_idx, done)
 
-            for env_idx, done in list(
-                    enumerate(self.locals.get('dones', []))) + list(
-                enumerate(self.locals.get('done', []))):
-                self.read_done(env_idx, done)
-        else:
-            pass
         return True
 
-    def __enter__(self):
-        self.start(force=True)
-        return self
-
-    def __exit__(self, exc_type, exc_val, exc_tb):
-        self.stop()
-
-    def _on_training_start(self) -> None:
-        if self.started:
-            pass
-        else:
-            self.start()
-        pass
-
     def _on_training_end(self) -> None:
-        if self.closed:
         pass
-        else:
-            self.stop()

environments/logging/training.py

@@ -1,54 +0,0 @@
-from collections import defaultdict
-from pathlib import Path
-
-import numpy as np
-import pandas as pd
-from stable_baselines3.common.callbacks import BaseCallback
-
-from environments.logging.plotting import prepare_plot
-
-
-class TraningMonitor(BaseCallback):
-
-    def __init__(self, filepath, flush_interval=None):
-        super(TraningMonitor, self).__init__()
-        self.values = defaultdict(dict)
-        self.rewards = defaultdict(lambda: 0)
-
-        self.filepath = Path(filepath)
-        self.flush_interval = flush_interval
-        self.next_flush: int
-        pass
-
-    def _on_training_start(self) -> None:
-        self.flush_interval = self.flush_interval or (self.locals['total_timesteps'] * 0.1)
-        self.next_flush = self.flush_interval
-
-    def _flush(self):
-        df = pd.DataFrame.from_dict(self.values,  orient='index')
-        if not self.filepath.exists():
-            df.to_csv(self.filepath, mode='wb', header=True)
-        else:
-            df.to_csv(self.filepath, mode='a', header=False)
-
-    def _on_step(self) -> bool:
-        for idx, done in np.ndenumerate(self.locals.get('dones', [])):
-            idx = idx[0]
-            # self.values[self.num_timesteps].update(**{f'reward_env_{idx}': self.locals['rewards'][idx]})
-            self.rewards[idx] += self.locals['rewards'][idx]
-            if done:
-                self.values[self.num_timesteps].update(**{f'acc_epispde_r_env_{idx}': self.rewards[idx]})
-                self.rewards[idx] = 0
-
-        if self.num_timesteps >= self.next_flush and self.values:
-            self._flush()
-            self.values = defaultdict(dict)
-
-        self.next_flush += self.flush_interval
-        return True
-
-    def on_training_end(self) -> None:
-        self._flush()
-        self.values = defaultdict(dict)
-        # prepare_plot()
-

environments/utility_classes.py

@@ -1,4 +1,3 @@
-from enum import Enum
 from typing import NamedTuple, Union
 
 

plotting/plotting.py

@@ -39,7 +39,9 @@ def prepare_plt(df, hue, style, hue_order):
     plt.close('all')
     sns.set(rc={'text.usetex': False}, style='whitegrid')
     lineplot = sns.lineplot(data=df, x='Episode', y='Score', hue=hue, style=style,
-                            ci=95, palette=PALETTE, hue_order=hue_order)
+                            ci=95, palette=PALETTE, hue_order=hue_order, )
+    plt.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0)
+    plt.tight_layout()
     # lineplot.set_title(f'{sorted(list(df["Measurement"].unique()))}')
     return lineplot
 

reload_agent.py

@@ -8,7 +8,7 @@ from environments import helpers as h
 from environments.helpers import Constants as c
 from environments.factory.factory_dirt import DirtFactory
 from environments.factory.combined_factories import DirtItemFactory
-from environments.logging.recorder import RecorderCallback
+from environments.logging.recorder import EnvRecorder
 
 warnings.filterwarnings('ignore', category=FutureWarning)
 warnings.filterwarnings('ignore', category=UserWarning)
@@ -16,14 +16,13 @@ warnings.filterwarnings('ignore', category=UserWarning)
 
 if __name__ == '__main__':
 
-    model_name = 'A2C_ItsDirt'
-    run_id = 0
-    determin = True
-    render=False
+    determin = False
+    render = True
     record = True
     seed = 67
-    n_agents = 1
-    out_path = Path('study_out/e_1_Now_with_doors/no_obs/dirt/A2C_Now_with_doors/0_A2C_Now_with_doors')
+    n_agents = 2
+    out_path = Path('study_out/e_1_obs_stack_3_gae_0.25_n_steps_16/seperate_N/dirt/A2C_obs_stack_3_gae_0.25_n_steps_16/0_A2C_obs_stack_3_gae_0.25_n_steps_16')
+    out_path_2 = Path('study_out/e_1_obs_stack_3_gae_0.25_n_steps_16/seperate_N/dirt/A2C_obs_stack_3_gae_0.25_n_steps_16/1_A2C_obs_stack_3_gae_0.25_n_steps_16')
     model_path = out_path
 
     with (out_path / f'env_params.json').open('r') as f:
@@ -33,21 +32,20 @@ if __name__ == '__main__':
             env_kwargs['dirt_prop']['max_spawn_amount'] = gain_amount
             del env_kwargs['dirt_prop']['gain_amount']
 
-        env_kwargs.update(record_episodes=record)
+        env_kwargs.update(record_episodes=record, done_at_collision=True)
 
     this_model = out_path / 'model.zip'
+    other_model = out_path / 'model.zip'
 
-    model_cls = next(val for key, val in h.MODEL_MAP.items() if key in model_name)
-    models = [model_cls.load(this_model) for _ in range(n_agents)]
+    model_cls = next(val for key, val in h.MODEL_MAP.items() if key in out_path.parent.name)
+    models = [model_cls.load(this_model), model_cls.load(other_model)]
 
-    with RecorderCallback(filepath=Path() / 'recorder_out_DQN.json', occupation_map=True,
-                          entities=['Agents']) as recorder:
     # Init Env
     with DirtFactory(**env_kwargs) as env:
+        env = EnvRecorder(env)
         obs_shape = env.observation_space.shape
         # Evaluation Loop for i in range(n Episodes)
-            recorder.read_params(env.params)
-            for episode in range(200):
+        for episode in range(50):
             env_state = env.reset()
             rew, done_bool = 0, False
             while not done_bool:
@@ -57,18 +55,12 @@ if __name__ == '__main__':
                         deterministic=determin)[0] for j, model in enumerate(models)]
                 else:
                     actions = models[0].predict(env_state, deterministic=determin)[0]
-                    if False:
-                        if any([agent.pos in [door.pos for door in env.unwrapped[c.DOORS]]
-                                for agent in env.unwrapped[c.AGENT]]):
-                            print('On Door')
                 env_state, step_r, done_bool, info_obj = env.step(actions)
 
-                    recorder.read_info(0, info_obj)
                 rew += step_r
                 if render:
                     env.render()
                 if done_bool:
-                        recorder.read_done(0, done_bool)
                     break
                 print(f'Factory run {episode} done, reward is:\n    {rew}')
     print('all done')

studies/e_1.py

@@ -18,7 +18,6 @@ except NameError:
 
 import time
 
-
 import simplejson
 from stable_baselines3.common.vec_env import SubprocVecEnv
 
@@ -26,13 +25,17 @@ from environments import helpers as h
 from environments.factory.factory_dirt import DirtProperties, DirtFactory
 from environments.factory.combined_factories import DirtItemFactory
 from environments.factory.factory_item import ItemProperties, ItemFactory
-from environments.logging.monitor import MonitorCallback
+from environments.logging.envmonitor import EnvMonitor
 from environments.utility_classes import MovementProperties, ObservationProperties, AgentRenderOptions
 import pickle
 from plotting.compare_runs import compare_seed_runs, compare_model_runs, compare_all_parameter_runs
 import pandas as pd
 import seaborn as sns
 
+import multiprocessing as mp
+
+# mp.set_start_method("spawn")
+
 """
 In this studie, we want to explore the macro behaviour of multi agents which are trained on the same task, 
 but never saw each other in training.
@@ -69,9 +72,10 @@ n_agents = 4
 ood_monitor_file = f'e_1_{n_agents}_agents'
 baseline_monitor_file = 'e_1_baseline'
 
+from stable_baselines3 import A2C
 
 def policy_model_kwargs():
-    return dict()
+    return dict(gae_lambda=0.25, n_steps=16, max_grad_norm=0, use_rms_prop=False)
 
 
 def dqn_model_kwargs():
@@ -102,27 +106,23 @@ def load_model_run_baseline(seed_path, env_to_run):
     with next(seed_path.glob('*.json')).open('r') as f:
         env_kwargs = simplejson.load(f)
         env_kwargs.update(done_at_collision=True)
-    # Monitor Init
-    with MonitorCallback(filepath=seed_path / f'{baseline_monitor_file}.pick') as monitor:
     # Init Env
     with env_to_run(**env_kwargs) as env_factory:
+        monitored_env_factory = EnvMonitor(env_factory)
+
         # Evaluation Loop for i in range(n Episodes)
         for episode in range(100):
-                env_state = env_factory.reset()
+            env_state = monitored_env_factory.reset()
             rew, done_bool = 0, False
             while not done_bool:
                 action = model.predict(env_state, deterministic=True)[0]
-                    env_state, step_r, done_bool, info_obj = env_factory.step(action)
-                    monitor.read_info(0, info_obj)
+                env_state, step_r, done_bool, info_obj = monitored_env_factory.step(action)
                 rew += step_r
                 if done_bool:
-                        monitor.read_done(0, done_bool)
                     break
             print(f'Factory run {episode} done, reward is:\n    {rew}')
-        # Eval monitor outputs are automatically stored by the monitor object
-        # del model, env_kwargs, env_factory
-        # import gc
-        # gc.collect()
+        monitored_env_factory.save_run(filepath=seed_path / f'{ood_monitor_file}.pick')
+
 
 
 def load_model_run_study(seed_path, env_to_run, additional_kwargs_dict):
@@ -138,13 +138,12 @@ def load_model_run_study(seed_path, env_to_run, additional_kwargs_dict):
             n_agents=n_agents,
             done_at_collision=True,
             **additional_kwargs_dict.get('post_training_kwargs', {}))
-    # Monitor Init
-    with MonitorCallback(filepath=seed_path / f'{ood_monitor_file}.pick') as monitor:
     # Init Env
     with env_to_run(**env_kwargs) as env_factory:
+        monitored_factory_env = EnvMonitor(env_factory)
         # Evaluation Loop for i in range(n Episodes)
         for episode in range(50):
-                env_state = env_factory.reset()
+            env_state = monitored_factory_env.reset()
             rew, done_bool = 0, False
             while not done_bool:
                 try:
@@ -158,13 +157,12 @@ def load_model_run_study(seed_path, env_to_run, additional_kwargs_dict):
                     print('Path is:\n')
                     print(seed_path)
                     exit()
-                    env_state, step_r, done_bool, info_obj = env_factory.step(actions)
-                    monitor.read_info(0, info_obj)
+                env_state, step_r, done_bool, info_obj = monitored_factory_env.step(actions)
                 rew += step_r
                 if done_bool:
-                        monitor.read_done(0, done_bool)
                     break
             print(f'Factory run {episode} done, reward is:\n    {rew}')
+        monitored_factory_env.save_run(filepath=seed_path / f'{ood_monitor_file}.pick')
     # Eval monitor outputs are automatically stored by the monitor object
     del models, env_kwargs, env_factory
     import gc
@@ -174,8 +172,7 @@ def load_model_run_study(seed_path, env_to_run, additional_kwargs_dict):
 def start_mp_study_run(envs_map, policies_path):
     paths = list(y for y in policies_path.iterdir() if y.is_dir() and not (y / f'{ood_monitor_file}.pick').exists())
     if paths:
-        import multiprocessing as mp
-        pool = mp.Pool(mp.cpu_count())
+        with mp.get_context("spawn").Pool(mp.cpu_count()) as pool:
             print("Starting MP with: ", pool._processes, " Processes")
             _ = pool.starmap(load_model_run_study,
                              it.product(paths,
@@ -188,8 +185,7 @@ def start_mp_baseline_run(envs_map, policies_path):
     paths = list(y for y in policies_path.iterdir() if y.is_dir() and
                  not (y / f'{baseline_monitor_file}.pick').exists())
     if paths:
-        import multiprocessing as mp
-        pool = mp.Pool(mp.cpu_count())
+        with mp.get_context("spawn").Pool(mp.cpu_count()) as pool:
             print("Starting MP with: ", pool._processes, " Processes")
             _ = pool.starmap(load_model_run_baseline,
                              it.product(paths,
@@ -206,9 +202,10 @@ if __name__ == '__main__':
 
     train_steps = 5e6
     n_seeds = 3
+    frames_to_stack = 3
 
     # Define a global studi save path
-    start_time = 'exploring_obs_stack'  # int(time.time())
+    start_time = 'obs_stack_3_gae_0.25_n_steps_16'  # int(time.time())
     study_root_path = Path(__file__).parent.parent / 'study_out' / f'{Path(__file__).stem}_{start_time}'
 
     # Define Global Env Parameters
@@ -216,7 +213,7 @@ if __name__ == '__main__':
     obs_props = ObservationProperties(render_agents=AgentRenderOptions.NOT,
                                       omit_agent_self=True,
                                       additional_agent_placeholder=None,
-                                      frames_to_stack=6,
+                                      frames_to_stack=frames_to_stack,
                                       pomdp_r=2
                                       )
     move_props = MovementProperties(allow_diagonal_movement=True,
@@ -234,7 +231,8 @@ if __name__ == '__main__':
                           level_name='rooms', record_episodes=False, doors_have_area=True,
                           verbose=False,
                           mv_prop=move_props,
-                          obs_prop=obs_props
+                          obs_prop=obs_props,
+                          done_at_collision=True
                           )
 
     # Bundle both environments with global kwargs and parameters
@@ -250,6 +248,7 @@ if __name__ == '__main__':
 
     # Define parameter versions according with #1,2[1,0,N],3
     observation_modes = {}
+    if False:
         observation_modes.update({
             'seperate_1': dict(
                 post_training_kwargs=
@@ -257,7 +256,7 @@ if __name__ == '__main__':
                     render_agents=AgentRenderOptions.COMBINED,
                     additional_agent_placeholder=None,
                     omit_agent_self=True,
-                frames_to_stack=3,
+                    frames_to_stack=frames_to_stack,
                     pomdp_r=2)
                 ),
                 additional_env_kwargs=
@@ -265,7 +264,7 @@ if __name__ == '__main__':
                     render_agents=AgentRenderOptions.NOT,
                     additional_agent_placeholder=1,
                     omit_agent_self=True,
-                frames_to_stack=3,
+                    frames_to_stack=frames_to_stack,
                     pomdp_r=2)
                 )
             )})
@@ -276,7 +275,7 @@ if __name__ == '__main__':
                     render_agents=AgentRenderOptions.COMBINED,
                     additional_agent_placeholder=None,
                     omit_agent_self=True,
-                frames_to_stack=3,
+                    frames_to_stack=frames_to_stack,
                     pomdp_r=2)
                 ),
                 additional_env_kwargs=
@@ -284,7 +283,7 @@ if __name__ == '__main__':
                     render_agents=AgentRenderOptions.NOT,
                     additional_agent_placeholder=0,
                     omit_agent_self=True,
-                frames_to_stack=3,
+                    frames_to_stack=frames_to_stack,
                     pomdp_r=2)
                 )
             )})
@@ -295,7 +294,7 @@ if __name__ == '__main__':
                 render_agents=AgentRenderOptions.COMBINED,
                 additional_agent_placeholder=None,
                 omit_agent_self=True,
-                frames_to_stack=3,
+                frames_to_stack=frames_to_stack,
                 pomdp_r=2)
             ),
             additional_env_kwargs=
@@ -303,7 +302,7 @@ if __name__ == '__main__':
                 render_agents=AgentRenderOptions.NOT,
                 additional_agent_placeholder='N',
                 omit_agent_self=True,
-                frames_to_stack=3,
+                frames_to_stack=frames_to_stack,
                 pomdp_r=2)
             )
         )})
@@ -314,7 +313,7 @@ if __name__ == '__main__':
                 render_agents=AgentRenderOptions.LEVEL,
                 omit_agent_self=True,
                 additional_agent_placeholder=None,
-                frames_to_stack=3,
+                frames_to_stack=frames_to_stack,
                 pomdp_r=2)
             )
         )})
@@ -326,7 +325,7 @@ if __name__ == '__main__':
                 render_agents=AgentRenderOptions.NOT,
                 additional_agent_placeholder=None,
                 omit_agent_self=True,
-                frames_to_stack=3,
+                frames_to_stack=frames_to_stack,
                 pomdp_r=2)
             )
         )
@@ -355,9 +354,6 @@ if __name__ == '__main__':
                             continue
                         seed_path.mkdir(parents=True, exist_ok=True)
 
-                        # Monitor Init
-                        callbacks = [MonitorCallback(seed_path / 'monitor.pick')]
-
                         # Env Init & Model kwargs definition
                         if model_cls.__name__ in ["PPO", "A2C"]:
                             # env_factory = env_class(**env_kwargs)
@@ -378,6 +374,9 @@ if __name__ == '__main__':
                         except AttributeError:
                             env_factory.save_params(param_path)
 
+                        # EnvMonitor Init
+                        callbacks = [EnvMonitor(env_factory)]
+
                         # Model Init
                         model = model_cls("MlpPolicy", env_factory,
                                           verbose=1, seed=seed, device='cpu',
@@ -390,6 +389,9 @@ if __name__ == '__main__':
                         save_path = seed_path / f'model.zip'
                         model.save(save_path)
 
+                        # Monitor Save
+                        callbacks[0].save_run(seed_path / 'monitor.pick')
+
                         # Better be save then sorry: Clean up!
                         del env_factory, model
                         import gc
@@ -500,13 +502,14 @@ if __name__ == '__main__':
                     df['failed_cleanup'] = df.loc[:, df.columns.str.contains("]_failed_dirt_cleanup")].sum(1)
                     df['coll_lvl'] = df.loc[:, df.columns.str.contains("]_vs_LEVEL")].sum(1)
                     df['coll_agent'] = df.loc[:, df.columns.str.contains("]_vs_Agent")].sum(1) / 2
-                    # df['collisions'] = df['coll_lvl'] + df['coll_agent']
+                    # df['`collis`ions'] = df['coll_lvl'] + df['coll_agent']
 
                     value_vars = ['pick_up', 'drop_off', 'failed_item_action', 'failed_cleanup',
                                   'coll_lvl', 'coll_agent', 'dirt_cleaned']
 
                 df_grouped = df.groupby(id_cols + ['seed']
-                                        ).agg({key: 'sum' if "Agent" in key else 'mean' for key in df.columns
+                                        # 'sum' if "agent" in key else 'mean'
+                                        ).agg({key: 'sum' for key in df.columns
                                                if key not in (id_cols + ['seed'])})
                 df_melted = df_grouped.reset_index().melt(id_vars=id_cols,
                                                           value_vars=value_vars,  # 'step_reward',