diff --git a/hw2/cs285/infrastructure/utils.py b/hw2/cs285/infrastructure/utils.py
index 35286be5..00e15b36 100644
--- a/hw2/cs285/infrastructure/utils.py
+++ b/hw2/cs285/infrastructure/utils.py
@@ -234,11 +234,22 @@ def sample_trajectories_sequential(
     return paths, timesteps_this_batch
 
 
-import concurrent.futures as cf
+import copy
 import os
 import torch.multiprocessing as mp
 
 
+def mp_worker(result_queue, env, policy, max_path_length, render, render_mode):
+    # if policy.logits_na:
+    #     policy.logits_na = copy.deepcopy(policy.logits_na)
+    # else:
+    #     raise False
+
+    while True:
+        result = sample_trajectory(env, copy.deepcopy(policy), max_path_length, render, render_mode)
+        result_queue.put(result)
+
+
 def sample_trajectories_parallel(
     env,
     policy,
@@ -250,40 +261,31 @@ def sample_trajectories_parallel(
     """Collect rollouts until we have collected min_timesteps_per_batch steps."""
     # Number of tasks to submit to the executor. This should be larger than
     # the number of workers (i.e. CPU count).
-    n_tasks = os.cpu_count() * 2
-
     timesteps_this_batch = 0
     paths = []
 
-    mp.set_start_method("spawn")
-    with cf.ProcessPoolExecutor(mp_context=mp) as executor:
-        task_args = (
-            sample_trajectory,
-            env,
-            policy,
-            max_path_length,
-            render,
-            render_mode,
+    ctx = mp.get_context("spawn")
+
+    def launch_worker():
+        proc = ctx.Process(
+            target=mp_worker,
+            args=(result_queue, env, policy, max_path_length, render, render_mode),
         )
-        tasks = set(executor.submit(*task_args) for _ in range(n_tasks))
-        while True:
-            done_set, rest_set = cf.wait(tasks, return_when=cf.FIRST_COMPLETED)
-            (done,) = done_set
-            if not done.done():
-                raise done.exception()
-            path = done.result()
-            paths.append(path)
-            timesteps_this_batch += get_pathlength(path)
-
-            if timesteps_this_batch >= min_timesteps_per_batch:
-                # We have collected enough. Cancel the rest.
-                for task in rest_set:
-                    task.cancel()
-                break
-            else:
-                # Submit a new sample_trajectory task
-                new_task = executor.submit(*task_args)
-                rest_set.add(new_task)
-                tasks = list(rest_set)
+        proc.start()
+        return proc
+
+    # mp.set_start_method("spawn", force=True)
+    result_queue = ctx.Queue(1)
+    # processes = [launch_worker() for _ in range(os.cpu_count())]
+    processes = [launch_worker() for _ in range(1)]
+
+    while True:
+        path = result_queue.get()
+        paths.append(path)
+        timesteps_this_batch += get_pathlength(path)
+        if timesteps_this_batch >= min_timesteps_per_batch:
+            # We have collected enough. Kill the workers.
+            for proc in processes:
+                proc.kill()
 
     return paths, timesteps_this_batch