Hey everyone!
I was trying to train an agent using the depth images with the default SAC implementation from stable-baselines3 and noticed that training was extremely slow. After doing some profiling, I noticed that the bottleneck was in the updateUnity call, which is needed to retrieve the depth images. I was wondering if this was expected or if I'm doing something wrong that might be making this call take longer than expected.
By the way, I'm running the RPG_Flightmare standalone on a GPU, which I made sure of by checking with nvidia-smi, and I'm training with num_envs = 25. In the Flightmare paper, you guys advertise rendering speeds of up to 230Hz on a laptop, which I assume is achieved for a single environment (i.e. num_envs = 1). Therefore, I find it strange that I'm getting speeds closer to 1.6Hz on a GPU, even if for a larger number of environments. For reference, updateUnity runs at approximately 16Hz for num_envs = 1 on my GPU.
These are my PC specs:
CPU: AMD Ryzen 9 3900X 12-Core Processor
GPU: GeForce RTX 2070 SUPER
RAM: 32GiB DDR4 2133 MHz
And these are my profiling results:
env.wrapper.step() took 0.42ms
env.wrapper.updateUnity() took 616.98ms
env.get_info() took 1.24ms
env.get_depth_image() took 0.04ms
env.get_obs() took 0.05ms
sac.collect_rollouts() took 621.87ms
sac.train() took 39.49ms
Hey everyone!
I was trying to train an agent using the depth images with the default SAC implementation from stable-baselines3 and noticed that training was extremely slow. After doing some profiling, I noticed that the bottleneck was in the updateUnity call, which is needed to retrieve the depth images. I was wondering if this was expected or if I'm doing something wrong that might be making this call take longer than expected.
By the way, I'm running the RPG_Flightmare standalone on a GPU, which I made sure of by checking with nvidia-smi, and I'm training with
num_envs = 25. In the Flightmare paper, you guys advertise rendering speeds of up to 230Hz on a laptop, which I assume is achieved for a single environment (i.e.num_envs = 1). Therefore, I find it strange that I'm getting speeds closer to 1.6Hz on a GPU, even if for a larger number of environments. For reference,updateUnityruns at approximately 16Hz fornum_envs = 1on my GPU.These are my PC specs:
And these are my profiling results: