diff --git a/ding/entry/cli.py b/ding/entry/cli.py
index 8eac954e851400b93165204385505866c3c9ecad..e55ce67ffc0fb9ae636f201195b602ad1bc53993 100644
--- a/ding/entry/cli.py
+++ b/ding/entry/cli.py
@@ -107,6 +107,12 @@ CONTEXT_SETTINGS = dict(help_option_names=['-h', '--help'])
 @click.option(
     '--memory', type=str, default=None, help='The requested Memory, read the value from DIJob yaml by default'
 )
+@click.option(
+    '--profile',
+    type=str,
+    default=None,
+    help='profile Time cost by cProfile, and save the files into the specified folder path'
+)
 def cli(
     # serial/eval
     mode: str,
@@ -143,7 +149,12 @@ def cli(
     gpus: int,
     memory: str,
     restart_pod_name: str,
+    profile: str,
 ):
+    if profile is not None:
+        from ..utils.profiler_helper import Profiler
+        profiler = Profiler()
+        profiler.profile(profile)
     if mode == 'serial':
         from .serial_entry import serial_pipeline
         if config is None:
diff --git a/ding/entry/main.py b/ding/entry/main.py
new file mode 100644
index 0000000000000000000000000000000000000000..08168ef56f97660641adb233b1d298391852678b
--- /dev/null
+++ b/ding/entry/main.py
@@ -0,0 +1,172 @@
+"""
+Main entry
+"""
+from collections import deque
+import torch
+import numpy as np
+import time
+from rich import print
+from functools import partial
+from ding.model import QAC
+from ding.utils import set_pkg_seed
+from ding.envs import BaseEnvManager, get_vec_env_setting
+from ding.config import compile_config
+from ding.policy import SACPolicy
+from ding.torch_utils import to_ndarray, to_tensor
+from ding.rl_utils import get_epsilon_greedy_fn
+from ding.worker.collector.base_serial_evaluator import VectorEvalMonitor
+from ding.framework import Task
+from dizoo.classic_control.pendulum.config.pendulum_sac_config import main_config, create_config
+
+
+class DequeBuffer:
+    """
+    For demonstration only
+    """
+
+    def __init__(self, maxlen=20000) -> None:
+        self.memory = deque(maxlen=maxlen)
+        self.n_counter = 0
+
+    def push(self, data):
+        self.memory.append(data)
+        self.n_counter += 1
+
+    def sample(self, size):
+        if size > len(self.memory):
+            print('[Warning] no enough data: {}/{}'.format(size, len(self.memory)))
+            return None
+        indices = list(np.random.choice(a=len(self.memory), size=size, replace=False))
+        return [self.memory[i] for i in indices]
+        # return random.sample(self.memory, size)
+
+    def count(self):
+        return len(self.memory)
+
+
+class Pipeline:
+
+    def __init__(self, cfg, model: torch.nn.Module):
+        self.cfg = cfg
+        self.model = model
+        self.policy = SACPolicy(cfg.policy, model=model)
+        if 'eps' in cfg.policy.other:
+            eps_cfg = cfg.policy.other.eps
+            self.epsilon_greedy = get_epsilon_greedy_fn(eps_cfg.start, eps_cfg.end, eps_cfg.decay, eps_cfg.type)
+
+    def act(self, env):
+
+        def _act(ctx):
+            ctx.setdefault("collect_env_step", 0)
+            ctx.keep("collect_env_step")
+            ctx.obs = env.ready_obs
+            policy_kwargs = {}
+            if hasattr(self, 'epsilon_greedy'):
+                policy_kwargs['eps'] = self.epsilon_greedy(ctx.collect_env_step)
+            policy_output = self.policy.collect_mode.forward(ctx.obs, **policy_kwargs)
+            ctx.action = to_ndarray({env_id: output['action'] for env_id, output in policy_output.items()})
+            ctx.policy_output = policy_output
+
+        return _act
+
+    def collect(self, env, buffer_, task: Task):
+
+        def _collect(ctx):
+            timesteps = env.step(ctx.action)
+            ctx.collect_env_step += len(timesteps)
+            timesteps = to_tensor(timesteps, dtype=torch.float32)
+            ctx.collect_transitions = []
+            for env_id, timestep in timesteps.items():
+                transition = self.policy.collect_mode.process_transition(
+                    ctx.obs[env_id], ctx.policy_output[env_id], timestep
+                )
+                ctx.collect_transitions.append(transition)
+                buffer_.push(transition)
+
+        return _collect
+
+    def learn(self, buffer_: DequeBuffer, task: Task):
+
+        def _learn(ctx):
+            ctx.setdefault("train_iter", 0)
+            ctx.keep("train_iter")
+            for i in range(self.cfg.policy.learn.update_per_collect):
+                data = buffer_.sample(self.policy.learn_mode.get_attribute('batch_size'))
+                if not data:
+                    break
+                learn_output = self.policy.learn_mode.forward(data)
+                if ctx.train_iter % 20 == 0:
+                    print(
+                        'Current Training: Train Iter({})\tLoss({:.3f})'.format(
+                            ctx.train_iter, learn_output['total_loss']
+                        )
+                    )
+                ctx.train_iter += 1
+
+        return _learn
+
+    def evaluate(self, env):
+
+        def _eval(ctx):
+            ctx.setdefault("train_iter", 0)
+            ctx.setdefault("last_eval_iter", -1)
+            ctx.keep("train_iter", "last_eval_iter")
+            if ctx.train_iter == ctx.last_eval_iter or (
+                (ctx.train_iter - ctx.last_eval_iter) < self.cfg.policy.eval.evaluator.eval_freq
+                    and ctx.train_iter != 0):
+                return
+            env.reset()
+            eval_monitor = VectorEvalMonitor(env.env_num, self.cfg.env.n_evaluator_episode)
+            while not eval_monitor.is_finished():
+                obs = env.ready_obs
+                obs = to_tensor(obs, dtype=torch.float32)
+                policy_output = self.policy.eval_mode.forward(obs)
+                action = to_ndarray({i: a['action'] for i, a in policy_output.items()})
+                timesteps = env.step(action)
+                timesteps = to_tensor(timesteps, dtype=torch.float32)
+                for env_id, timestep in timesteps.items():
+                    if timestep.done:
+                        self.policy.eval_mode.reset([env_id])
+                        reward = timestep.info['final_eval_reward']
+                        eval_monitor.update_reward(env_id, reward)
+            episode_reward = eval_monitor.get_episode_reward()
+            eval_reward = np.mean(episode_reward)
+            stop_flag = eval_reward >= self.cfg.env.stop_value and ctx.train_iter > 0
+            print('Current Evaluation: Train Iter({})\tEval Reward({:.3f})'.format(ctx.train_iter, eval_reward))
+            ctx.last_eval_iter = ctx.train_iter
+            if stop_flag:
+                ctx.finish = True
+
+        return _eval
+
+
+def main(cfg, model, seed=0):
+    with Task(async_mode=False) as task:
+        env_fn, collector_env_cfg, evaluator_env_cfg = get_vec_env_setting(cfg.env)
+
+        collector_env = BaseEnvManager(env_fn=[partial(env_fn, cfg=c) for c in collector_env_cfg], cfg=cfg.env.manager)
+        evaluator_env = BaseEnvManager(env_fn=[partial(env_fn, cfg=c) for c in evaluator_env_cfg], cfg=cfg.env.manager)
+
+        collector_env.seed(seed)
+        evaluator_env.seed(seed, dynamic_seed=False)
+        set_pkg_seed(seed, use_cuda=cfg.policy.cuda)
+        collector_env.launch()
+        evaluator_env.launch()
+
+        replay_buffer = DequeBuffer()
+        sac = Pipeline(cfg, model)
+
+        # task.use_step_wrapper(StepTimer(print_per_step=1))
+        task.use(sac.evaluate(evaluator_env), filter_labels=["standalone", "node.0"])
+        task.use(
+            task.sequence(sac.act(collector_env), sac.collect(collector_env, replay_buffer, task=task)),
+            filter_labels=["standalone", "node.[1-9]*"]
+        )
+        task.use(sac.learn(replay_buffer, task=task), filter_labels=["standalone", "node.0"])
+        task.run(max_step=100000)
+
+
+if __name__ == "__main__":
+    cfg = compile_config(main_config, create_cfg=create_config, auto=True)
+    model = QAC(**cfg.policy.model)
+    main(cfg, model)
diff --git a/ding/framework/__init__.py b/ding/framework/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..fb712ee8418be2ff17314248c447aa73ac21de16
--- /dev/null
+++ b/ding/framework/__init__.py
@@ -0,0 +1,3 @@
+from .context import Context
+from .task import Task
+from .parallel import Parallel
diff --git a/ding/framework/context.py b/ding/framework/context.py
new file mode 100644
index 0000000000000000000000000000000000000000..3b06ce252f29e9aae0aba353ba0bf2e01dbe4a6e
--- /dev/null
+++ b/ding/framework/context.py
@@ -0,0 +1,34 @@
+class Context(dict):
+    """
+    Overview:
+        Context is an object that pass contextual data between middlewares, whose life cycle
+        is only one training iteration. It is a dict that reflect itself, so you can set
+        any properties as you wish.
+    """
+
+    def __init__(self, total_step: int = 0, *args, **kwargs) -> None:
+        super().__init__(*args, **kwargs)
+        self.__dict__ = self
+        self.total_step = total_step
+
+        # Reserved properties
+        self.finish = False
+        self._kept_keys = {"finish"}
+
+    def renew(self) -> 'Context':  # noqa
+        """
+        Overview:
+            Renew context from self, add total_step and shift kept properties to the new instance.
+        """
+        ctx = Context()
+        for key in self._kept_keys:
+            ctx[key] = self[key]
+        return ctx
+
+    def keep(self, *keys: str) -> None:
+        """
+        Overview:
+            Keep this key/keys until next iteration.
+        """
+        for key in keys:
+            self._kept_keys.add(key)
diff --git a/ding/framework/parallel.py b/ding/framework/parallel.py
new file mode 100644
index 0000000000000000000000000000000000000000..66243ff452f079dd69f6b44377669f2be5929fc7
--- /dev/null
+++ b/ding/framework/parallel.py
@@ -0,0 +1,231 @@
+import atexit
+import os
+import random
+import threading
+import time
+from mpire.pool import WorkerPool
+import pynng
+import pickle
+import logging
+import tempfile
+import socket
+from os import path
+from typing import Callable, Dict, List, Optional, Tuple, Union
+from threading import Thread
+from pynng.nng import Bus0, Socket
+from ding.utils.design_helper import SingletonMetaclass
+from rich import print
+
+# Avoid ipc address conflict, random should always use random seed
+random = random.Random()
+
+
+class Parallel(metaclass=SingletonMetaclass):
+
+    def __init__(self) -> None:
+        self._listener = None
+        self._sock: Socket = None
+        self._rpc = {}
+        self._bind_addr = None
+        self._lock = threading.Lock()
+        self.is_active = False
+        self.attach_to = None
+        self.finished = False
+
+    def run(self, node_id: int, listen_to: str, attach_to: List[str] = None) -> None:
+        self.node_id = node_id
+        self.attach_to = attach_to = attach_to or []
+        self._listener = Thread(
+            target=self.listen,
+            kwargs={
+                "listen_to": listen_to,
+                "attach_to": attach_to
+            },
+            name="paralllel_listener",
+            daemon=True
+        )
+        self._listener.start()
+
+    @staticmethod
+    def runner(
+            n_parallel_workers: int,
+            attach_to: Optional[List[str]] = None,
+            protocol: str = "ipc",
+            address: Optional[str] = None,
+            ports: Optional[List[int]] = None,
+            topology: str = "mesh"
+    ) -> Callable:
+        """
+        Overview:
+            This method allows you to configure parallel parameters, and now you are still in the parent process.
+        Arguments:
+            - n_parallel_workers (:obj:`int`): Workers to spawn.
+            - attach_to (:obj:`Optional[List[str]]`): The node's addresses you want to attach to.
+            - protocol (:obj:`str`): Network protocol.
+            - address (:obj:`Optional[str]`): Bind address, ip or file path.
+            - ports (:obj:`Optional[List[int]]`): Candidate ports.
+            - topology (:obj:`str`): Network topology, includes:
+                `mesh` (default): fully connected between each other;
+                `star`: only connect to the first node;
+        Returns:
+            - _runner (:obj:`Callable`): The wrapper function for main.
+        """
+        attach_to = attach_to or []
+        assert n_parallel_workers > 0, "Parallel worker number should bigger than 0"
+
+        def _runner(main_process: Callable, *args, **kwargs) -> None:
+            """
+            Overview:
+                Prepare to run in subprocess.
+            Arguments:
+                - main_process (:obj:`Callable`): The main function, your program start from here.
+            """
+            nodes = Parallel.get_node_addrs(n_parallel_workers, protocol=protocol, address=address, ports=ports)
+            logging.info("Bind subprocesses on these addresses: {}".format(nodes))
+            print("Bind subprocesses on these addresses: {}".format(nodes))
+
+            def cleanup_nodes():
+                for node in nodes:
+                    protocol, file_path = node.split("://")
+                    if protocol == "ipc" and path.exists(file_path):
+                        os.remove(file_path)
+
+            atexit.register(cleanup_nodes)
+
+            def topology_network(node_id: int) -> List[str]:
+                if topology == "mesh":
+                    return nodes[:node_id] + attach_to
+                elif topology == "star":
+                    return nodes[:min(1, node_id)]
+                else:
+                    raise ValueError("Unknown topology: {}".format(topology))
+
+            params_group = []
+            for node_id in range(n_parallel_workers):
+                runner_args = []
+                runner_kwargs = {
+                    "node_id": node_id,
+                    "listen_to": nodes[node_id],
+                    "attach_to": topology_network(node_id) + attach_to
+                }
+                params = [(runner_args, runner_kwargs), (main_process, args, kwargs)]
+                params_group.append(params)
+
+            if n_parallel_workers == 1:
+                Parallel.subprocess_runner(*params_group[0])
+            else:
+                with WorkerPool(n_jobs=n_parallel_workers, start_method="spawn", daemon=False) as pool:
+                    # Cleanup the pool just in case the program crashes.
+                    atexit.register(pool.__exit__)
+                    pool.map(Parallel.subprocess_runner, params_group)
+
+        return _runner
+
+    @staticmethod
+    def subprocess_runner(runner_params: Tuple[Union[List, Dict]], main_params: Tuple[Union[List, Dict]]) -> None:
+        """
+        Overview:
+            Really run in subprocess.
+        Arguments:
+            - runner_params (:obj:`Tuple[Union[List, Dict]]`): Args and kwargs for runner.
+            - main_params (:obj:`Tuple[Union[List, Dict]]`): Args and kwargs for main function.
+        """
+        main_process, args, kwargs = main_params
+        runner_args, runner_kwargs = runner_params
+
+        with Parallel() as router:
+            router.is_active = True
+            router.run(*runner_args, **runner_kwargs)
+            main_process(*args, **kwargs)
+
+    @staticmethod
+    def get_node_addrs(
+            n_workers: int,
+            protocol: str = "ipc",
+            address: Optional[str] = None,
+            ports: Optional[List[int]] = None
+    ) -> None:
+        if protocol == "ipc":
+            node_name = "".join(random.choices("abcdefghijklmnopqrstuvwxyz0123456789", k=4))
+            tmp_dir = tempfile.gettempdir()
+            nodes = ["ipc://{}/ditask_{}_{}.ipc".format(tmp_dir, node_name, i) for i in range(n_workers)]
+        elif protocol == "tcp":
+            address = address or Parallel.get_ip()
+            ports = ports or range(50515, 50515 + n_workers)
+            assert len(ports) == n_workers, "The number of ports must be the same as the number of workers, \
+now there are {} ports and {} workers".format(len(ports), n_workers)
+            nodes = ["tcp://{}:{}".format(address, port) for port in ports]
+        else:
+            raise Exception("Unknown protocol {}".format(protocol))
+        return nodes
+
+    def listen(self, listen_to: str, attach_to: List[str] = None):
+        attach_to = attach_to or []
+        self._bind_addr = listen_to
+
+        with Bus0() as sock:
+            self._sock = sock
+            sock.listen(self._bind_addr)
+            time.sleep(0.1)  # Wait for peers to bind
+            for contact in attach_to:
+                sock.dial(contact)
+
+            while True:
+                try:
+                    msg = sock.recv_msg()
+                    self.recv_rpc(msg.bytes)
+                except pynng.Timeout:
+                    logging.warning("Timeout on node {} when waiting for message from bus".format(self._bind_addr))
+                except pynng.Closed:
+                    if not self.finished:
+                        logging.error("The socket was not closed under normal circumstances!")
+                    break
+                except Exception as e:
+                    logging.error("Meet exception when listening for new messages", e)
+                    break
+
+    def register_rpc(self, fn_name: str, fn: Callable) -> None:
+        self._rpc[fn_name] = fn
+
+    def send_rpc(self, func_name: str, *args, **kwargs) -> None:
+        if self.is_active:
+            payload = {"f": func_name, "a": args, "k": kwargs}
+            return self._sock and self._sock.send(pickle.dumps(payload, protocol=-1))
+
+    def recv_rpc(self, msg: bytes):
+        try:
+            payload = pickle.loads(msg)
+        except Exception as e:
+            logging.warning("Error when unpacking message on node {}, msg: {}".format(self._bind_addr, e))
+        if payload["f"] in self._rpc:
+            self._rpc[payload["f"]](*payload["a"], **payload["k"])
+        else:
+            logging.warning("There was no function named {} in rpc table".format(payload["f"]))
+
+    @staticmethod
+    def get_ip():
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        try:
+            # doesn't even have to be reachable
+            s.connect(('10.255.255.255', 1))
+            IP = s.getsockname()[0]
+        except Exception:
+            IP = '127.0.0.1'
+        finally:
+            s.close()
+        return IP
+
+    def __enter__(self) -> "Parallel":
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        self.stop()
+
+    def stop(self):
+        logging.info("Stopping parallel worker on address: {}".format(self._bind_addr))
+        self.finished = True
+        time.sleep(0.03)
+        if self._sock:
+            self._sock.close()
+        if self._listener:
+            self._listener.join(timeout=1)
diff --git a/ding/framework/task.py b/ding/framework/task.py
new file mode 100644
index 0000000000000000000000000000000000000000..6362f01cfcdf7c55440c495d5914833e8d382920
--- /dev/null
+++ b/ding/framework/task.py
@@ -0,0 +1,312 @@
+from collections import defaultdict
+import logging
+import time
+import asyncio
+import concurrent.futures
+import fnmatch
+from types import GeneratorType
+from typing import Awaitable, Callable, Dict, Generator, Iterable, List, Optional, Set
+from ding.framework.context import Context
+from ding.framework.parallel import Parallel
+
+
+def enable_async(func: Callable) -> Callable:
+    """
+    Overview:
+        Empower the function with async ability.
+    Arguments:
+        - func (:obj:`Callable`): The original function.
+    Returns:
+        - runtime_handler (:obj:`Callable`): The wrap function.
+    """
+
+    def runtime_handler(task: "Task", *args, **kwargs) -> "Task":
+        """
+        Overview:
+            If task's async mode is enabled, execute the step in current loop executor asyncly,
+            or execute the task sync.
+        Arguments:
+            - task (:obj:`Task`): The task instance.
+        Returns:
+            - result (:obj:`Union[Any, Awaitable]`): The result or future object of middleware.
+        """
+        if "async_mode" in kwargs:
+            async_mode = kwargs.pop("async_mode")
+        else:
+            async_mode = task.async_mode
+        if async_mode:
+            t = task._loop.run_in_executor(task._thread_pool, func, task, *args, **kwargs)
+            task._async_stack.append(t)
+            return task
+        else:
+            return func(task, *args, **kwargs)
+
+    return runtime_handler
+
+
+class Task:
+    """
+    Tash will manage the execution order of the entire pipeline, register new middleware,
+    and generate new context objects.
+    """
+
+    def __init__(
+            self,
+            async_mode: bool = False,
+            n_async_workers: int = 3,
+            middleware: Optional[List[Callable]] = None,
+            step_wrappers: Optional[List[Callable]] = None,
+            event_listeners: Optional[Dict[str, List]] = None,
+            once_listeners: Optional[Dict[str, List]] = None,
+            attach_callback: Optional[Callable] = None,
+            labels: Optional[Set[str]] = None,
+            **_
+    ) -> None:
+        self.middleware = middleware or []
+        self.step_wrappers = step_wrappers or []
+        self.ctx = Context()
+        self.parallel_ctx = Context()
+        self._backward_stack = []
+
+        # Async segment
+        self.async_mode = async_mode
+        self.n_async_workers = n_async_workers
+        self._async_stack = []
+        self._loop = None
+        self._thread_pool = None
+        self.event_listeners = event_listeners or defaultdict(list)
+        self.once_listeners = once_listeners or defaultdict(list)
+        self.labels = labels or set()
+
+        # Parallel segment
+        self.router = Parallel()
+        if async_mode or self.router.is_active:
+            self._thread_pool = concurrent.futures.ThreadPoolExecutor(max_workers=n_async_workers)
+            self._loop = asyncio.new_event_loop()
+
+        if self.router.is_active:
+            self.router.register_rpc("task.emit", self.emit)
+            if attach_callback:
+                self.wait_for_attach_callback(attach_callback)
+            self.on("sync_parallel_ctx", self.sync_parallel_ctx)
+
+        self.init_labels()
+
+    def init_labels(self):
+        if self.async_mode:
+            self.labels.add("async")
+        if self.router.is_active:
+            self.labels.add("distributed")
+            self.labels.add("node.{}".format(self.router.node_id))
+        else:
+            self.labels.add("standalone")
+
+    def use(self, fn: Callable, filter_labels: Optional[Iterable[str]] = None) -> 'Task':
+        """
+        Overview:
+            Register middleware to task. The middleware will be executed by it's registry order.
+        Arguments:
+            - fn (:obj:`Callable`): A middleware is a function with only one argument: ctx.
+        """
+        if not filter_labels or any([fnmatch.filter(self.labels, v) for v in filter_labels]):
+            self.middleware.append(fn)
+        return self
+
+    def use_step_wrapper(self, fn: Callable) -> 'Task':
+        self.step_wrappers.append(fn)
+        return self
+
+    def run(self, max_step: int = 1e10) -> None:
+        """
+        Overview:
+            Execute the iterations, when reach the max_step or task.finish is true,
+            The loop will be break.
+        Arguments:
+            - max_step (:obj:`int`): Max step of iterations.
+        """
+        if len(self.middleware) == 0:
+            return
+        for i in range(max_step):
+            for fn in self.middleware:
+                self.forward(fn)
+            self.backward()
+            if i == max_step - 1:
+                self.ctx.finish = True
+            self.renew()
+            if self.finish:
+                break
+
+    @enable_async
+    def forward(self, fn: Callable, ctx: Context = None, backward_stack: List[Generator] = None) -> 'Task':
+        """
+        Overview:
+            This function will execute the middleware until the first yield statment,
+            or the end of the middleware.
+        Arguments:
+            - fn (:obj:`Callable`): Function with contain the ctx argument in middleware.
+        """
+        if not backward_stack:
+            backward_stack = self._backward_stack
+        if not ctx:
+            ctx = self.ctx
+        for wrapper in self.step_wrappers:
+            fn = wrapper(fn)
+        g = fn(ctx)
+        if isinstance(g, GeneratorType):
+            try:
+                next(g)
+                backward_stack.append(g)
+            except StopIteration:
+                pass
+        return self
+
+    @enable_async
+    def backward(self, backward_stack: List[Generator] = None) -> 'Task':
+        """
+        Overview:
+            Execute the rest part of middleware, by the reversed order of registry.
+        """
+        if not backward_stack:
+            backward_stack = self._backward_stack
+        while backward_stack:
+            # FILO
+            g = backward_stack.pop()
+            try:
+                next(g)
+            except StopIteration:
+                continue
+        return self
+
+    def sequence(self, *fns: List[Callable]) -> Callable:
+        """
+        Overview:
+            Wrap functions and keep them run in sequence, Usually in order to avoid the confusion
+            of dependencies in async mode.
+        Arguments:
+            - fn (:obj:`Callable`): Chain a sequence of middleware, wrap them into one middleware function.
+        """
+
+        def _sequence(ctx):
+            backward_stack = []
+            for fn in fns:
+                self.forward(fn, ctx=ctx, backward_stack=backward_stack, async_mode=False)
+            yield
+            self.backward(backward_stack=backward_stack, async_mode=False)
+
+        name = ",".join([fn.__name__ for fn in fns])
+        _sequence.__name__ = "sequence<{}>".format(name)
+        return _sequence
+
+    def renew(self) -> 'Task':
+        """
+        Overview:
+            Renew the context instance, this function should be called after backward in the end of iteration.
+        """
+        # Sync should be called before backward, otherwise it is possible
+        # that some generators have not been pushed to backward_stack.
+        self.sync()
+        self.backward()
+        self.sync()
+        # Renew context
+        old_ctx = self.ctx
+        if self.router.is_active:
+            # Send context to other parallel processes
+            self.async_executor(self.router.send_rpc, "task.emit", "sync_parallel_ctx", old_ctx)
+
+        new_ctx = old_ctx.renew()
+        new_ctx.total_step = old_ctx.total_step + 1
+        self.ctx = new_ctx
+        return self
+
+    def __enter__(self) -> "Task":
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        self.stop()
+
+    def stop(self) -> None:
+        if self._thread_pool:
+            self._thread_pool.shutdown()
+
+    def sync(self) -> 'Task':
+        if self._loop:
+            self._loop.run_until_complete(self.sync_tasks())
+        return self
+
+    async def sync_tasks(self) -> Awaitable[None]:
+        while self._async_stack:
+            # FIFO
+            t = self._async_stack.pop(0)
+            await t
+
+    def wait_for_attach_callback(self, attach_callback: Callable, n_timeout: int = 30):
+        if len(self.router.attach_to) > 0:
+            logging.warning(
+                "The attach mode will wait for the latest context, an exception will \
+be thrown after the timeout {}s is reached".format(n_timeout)
+            )
+            is_timeout = True
+            ctx = None
+
+            def on_sync_parallel_ctx(new_ctx):
+                nonlocal ctx
+                ctx = new_ctx
+
+            self.once("sync_parallel_ctx", on_sync_parallel_ctx)
+            for _ in range(n_timeout * 10):
+                if ctx:
+                    is_timeout = False
+                    break
+                time.sleep(0.1)
+            if is_timeout:
+                # If attach callback is defined, the attach mode should wait for callback finished,
+                # otherwise it may overwrite the training results of other processes
+                raise TimeoutError("Attach timeout, not received the latest context.")
+            attach_callback(ctx)
+
+    def async_executor(self, fn: Callable, *args, **kwargs) -> None:
+        """
+        Overview:
+            Execute task in background, then apppend the future instance in _async_stack.
+        Arguments:
+            - fn (:obj:`Callable`): Synchronization fuction.
+        """
+        if not self._loop:
+            raise Exception("Event loop was not initialized, please call this function in async or parallel mode")
+        t = self._loop.run_in_executor(self._thread_pool, fn, *args, **kwargs)
+        self._async_stack.append(t)
+
+    def emit(self, event_name, *args, **kwargs):
+        if event_name in self.event_listeners:
+            for fn in self.event_listeners[event_name]:
+                fn(*args, **kwargs)
+        if event_name in self.once_listeners:
+            while self.once_listeners[event_name]:
+                fn = self.once_listeners[event_name].pop()
+                fn(*args, **kwargs)
+
+    def on(self, event: str, fn: Callable) -> None:
+        self.event_listeners[event].append(fn)
+
+    def once(self, event: str, fn: Callable) -> None:
+        self.once_listeners[event].append(fn)
+
+    @property
+    def finish(self) -> bool:
+        """
+        Overview:
+            Link the ctx's finish state, in order to be easily called externally.
+        """
+        return self.ctx.finish
+
+    def __copy__(self):
+        return Task(**self.__dict__)
+
+    def sync_parallel_ctx(self, ctx):
+        """
+        Overview:
+            Sync parallel ctx
+        """
+        self.parallel_ctx = ctx
+        if self.parallel_ctx.finish:
+            self.ctx.finish = True
diff --git a/ding/framework/tests/test_context.py b/ding/framework/tests/test_context.py
new file mode 100644
index 0000000000000000000000000000000000000000..406680f5600c466afd92d6f00102821ca3061b8d
--- /dev/null
+++ b/ding/framework/tests/test_context.py
@@ -0,0 +1,14 @@
+import pytest
+from ding.framework import Context
+import pickle
+
+
+@pytest.mark.unittest
+def test_pickable():
+    ctx = Context(hello="world", keep_me=True)
+    ctx.keep("keep_me")
+    _ctx = pickle.loads(pickle.dumps(ctx))
+    assert _ctx.hello == "world"
+
+    _ctx = ctx.renew()
+    assert _ctx.keep_me
diff --git a/ding/framework/tests/test_parallel.py b/ding/framework/tests/test_parallel.py
new file mode 100644
index 0000000000000000000000000000000000000000..2ccc7c84bda10f7a8a68f871b4631cf5e5b71b95
--- /dev/null
+++ b/ding/framework/tests/test_parallel.py
@@ -0,0 +1,60 @@
+from collections import defaultdict
+import pytest
+import time
+import os
+from ding.framework import Parallel
+from ding.utils.design_helper import SingletonMetaclass
+
+
+def parallel_main():
+    msg = defaultdict(bool)
+
+    def test_callback(key):
+        msg[key] = True
+
+    with Parallel() as router:
+        router.register_rpc("test_callback", test_callback)
+        # Wait for nodes to bind
+        time.sleep(0.7)
+
+        router.send_rpc("test_callback", "ping")
+
+        for _ in range(30):
+            if msg["ping"]:
+                break
+            time.sleep(0.03)
+        assert msg["ping"]
+
+
+@pytest.mark.unittest
+def test_parallel_run():
+    Parallel.runner(n_parallel_workers=2)(parallel_main)
+    Parallel.runner(n_parallel_workers=2, protocol="tcp")(parallel_main)
+
+
+def parallel_main_alone(pid):
+    assert os.getpid() == pid
+    router = Parallel()
+    time.sleep(0.3)  # Waiting to bind listening address
+    assert router._bind_addr
+
+
+def test_parallel_run_alone():
+    try:
+        Parallel.runner(n_parallel_workers=1)(parallel_main_alone, os.getpid())
+    finally:
+        del SingletonMetaclass.instances[Parallel]
+
+
+def star_parallel_main():
+    with Parallel() as router:
+        if router.node_id != 0:
+            assert len(router.attach_to) == 1
+
+        # Wait for other nodes
+        time.sleep(2)
+
+
+@pytest.mark.unittest
+def test_parallel_topology():
+    Parallel.runner(n_parallel_workers=3, topology="star")(star_parallel_main)
diff --git a/ding/framework/tests/test_task.py b/ding/framework/tests/test_task.py
new file mode 100644
index 0000000000000000000000000000000000000000..7f9c774b4d9ef2b0a615e182cae0ceb36f51e68d
--- /dev/null
+++ b/ding/framework/tests/test_task.py
@@ -0,0 +1,226 @@
+from concurrent.futures import thread
+from os import spawnl
+from attr.validators import instance_of
+import pytest
+import time
+import copy
+import random
+from mpire import WorkerPool
+from ding.framework import Task
+from ding.framework.context import Context
+from ding.framework.parallel import Parallel
+from ding.utils.design_helper import SingletonMetaclass
+
+
+@pytest.mark.unittest
+def test_serial_pipeline():
+
+    def step0(ctx):
+        ctx.setdefault("pipeline", [])
+        ctx.pipeline.append(0)
+
+    def step1(ctx):
+        ctx.pipeline.append(1)
+
+    # Execute step1, step2 twice
+    task = Task()
+    for _ in range(2):
+        task.forward(step0)
+        task.forward(step1)
+    assert task.ctx.pipeline == [0, 1, 0, 1]
+
+    # Renew and execute step1, step2
+    task.renew()
+    assert task.ctx.total_step == 1
+    task.forward(step0)
+    task.forward(step1)
+    assert task.ctx.pipeline == [0, 1]
+
+    # Test context inheritance
+    task.renew()
+
+
+@pytest.mark.unittest
+def test_serial_yield_pipeline():
+
+    def step0(ctx):
+        ctx.setdefault("pipeline", [])
+        ctx.pipeline.append(0)
+        yield
+        ctx.pipeline.append(0)
+
+    def step1(ctx):
+        ctx.pipeline.append(1)
+
+    task = Task()
+    task.forward(step0)
+    task.forward(step1)
+    task.backward()
+    assert task.ctx.pipeline == [0, 1, 0]
+    assert len(task._backward_stack) == 0
+
+
+@pytest.mark.unittest
+def test_async_pipeline():
+
+    def step0(ctx):
+        ctx.setdefault("pipeline", [])
+        ctx.pipeline.append(0)
+
+    def step1(ctx):
+        ctx.pipeline.append(1)
+
+    # Execute step1, step2 twice
+    task = Task(async_mode=True)
+    for _ in range(2):
+        task.forward(step0)
+        time.sleep(0.1)
+        task.forward(step1)
+        time.sleep(0.1)
+    task.backward()
+    assert task.ctx.pipeline == [0, 1, 0, 1]
+    task.renew()
+    assert task.ctx.total_step == 1
+
+
+@pytest.mark.unittest
+def test_async_yield_pipeline():
+
+    def step0(ctx):
+        ctx.setdefault("pipeline", [])
+        time.sleep(0.1)
+        ctx.pipeline.append(0)
+        yield
+        ctx.pipeline.append(0)
+
+    def step1(ctx):
+        time.sleep(0.2)
+        ctx.pipeline.append(1)
+
+    task = Task(async_mode=True)
+    task.forward(step0)
+    task.forward(step1)
+    time.sleep(0.3)
+    task.backward().sync()
+    assert task.ctx.pipeline == [0, 1, 0]
+    assert len(task._backward_stack) == 0
+
+
+def parallel_main():
+    task = Task()
+    sync_count = 0
+
+    def on_sync_parallel_ctx(ctx):
+        nonlocal sync_count
+        assert isinstance(ctx, Context)
+        sync_count += 1
+
+    task.on("sync_parallel_ctx", on_sync_parallel_ctx)
+    task.use(lambda _: time.sleep(0.2 + random.random() / 10))
+    task.run(max_step=10)
+    assert sync_count > 0
+
+
+def parallel_main_eager():
+    task = Task()
+    sync_count = 0
+
+    def on_sync_parallel_ctx(ctx):
+        nonlocal sync_count
+        assert isinstance(ctx, Context)
+        sync_count += 1
+
+    task.on("sync_parallel_ctx", on_sync_parallel_ctx)
+    for _ in range(10):
+        task.forward(lambda _: time.sleep(0.2 + random.random() / 10))
+        task.renew()
+    assert sync_count > 0
+
+
+@pytest.mark.unittest
+def test_parallel_pipeline():
+    Parallel.runner(n_parallel_workers=2)(parallel_main_eager)
+    Parallel.runner(n_parallel_workers=2)(parallel_main)
+
+
+@pytest.mark.unittest
+def test_copy_task():
+    t1 = Task(async_mode=True, n_async_workers=1)
+    t2 = copy.copy(t1)
+    assert t2.async_mode
+    assert t1 is not t2
+
+
+def attach_mode_main_task():
+    with Task() as task:
+        task.use(lambda _: time.sleep(0.1))
+        task.run(max_step=10)
+
+
+def attach_mode_attach_task():
+    ctx = None
+
+    def attach_callback(new_ctx):
+        nonlocal ctx
+        ctx = new_ctx
+
+    with Task(attach_callback=attach_callback) as task:
+        task.use(lambda _: time.sleep(0.1))
+        task.run(max_step=10)
+    assert ctx is not None
+
+
+def attach_mode_main(job):
+    if job == "run_task":
+        Parallel.runner(
+            n_parallel_workers=2, protocol="tcp", address="127.0.0.1", ports=[50501, 50502]
+        )(attach_mode_main_task)
+    elif "run_attach_task":
+        time.sleep(0.3)
+        try:
+            Parallel.runner(
+                n_parallel_workers=1,
+                protocol="tcp",
+                address="127.0.0.1",
+                ports=[50503],
+                attach_to=["tcp://127.0.0.1:50501", "tcp://127.0.0.1:50502"]
+            )(attach_mode_attach_task)
+        finally:
+            del SingletonMetaclass.instances[Parallel]
+    else:
+        raise Exception("Unknown task")
+
+
+@pytest.mark.unittest
+def test_attach_mode():
+    with WorkerPool(n_jobs=2, daemon=False, start_method="spawn") as pool:
+        pool.map(attach_mode_main, ["run_task", "run_attach_task"])
+
+
+@pytest.mark.unittest
+def test_label():
+    task = Task()
+    result = {}
+    task.use(lambda _: result.setdefault("not_me", True), filter_labels=["async"])
+    task.use(lambda _: result.setdefault("has_me", True))
+    task.run(max_step=1)
+
+    assert "not_me" not in result
+    assert "has_me" in result
+
+
+def sync_parallel_ctx_main():
+    with Task() as task:
+        task.use(lambda _: time.sleep(1))
+        if task.router.node_id == 0:  # Fast
+            task.run(max_step=2)
+        else:  # Slow
+            task.run(max_step=10)
+    assert task.parallel_ctx
+    assert task.ctx.finish
+    assert task.ctx.total_step < 9
+
+
+@pytest.mark.unittest
+def test_sync_parallel_ctx():
+    Parallel.runner(n_parallel_workers=2)(sync_parallel_ctx_main)
diff --git a/ding/framework/tests/test_wrapper.py b/ding/framework/tests/test_wrapper.py
new file mode 100644
index 0000000000000000000000000000000000000000..34fc84fba3699aa24d50a4aad4cf52458141517f
--- /dev/null
+++ b/ding/framework/tests/test_wrapper.py
@@ -0,0 +1,66 @@
+# In use mode
+# In forward mode
+# Wrapper in wrapper
+
+import pytest
+from ding.framework.task import Task
+from ding.framework.wrapper import StepTimer
+
+
+@pytest.mark.unittest
+def test_step_timer():
+
+    def step1(_):
+        1
+
+    def step2(_):
+        2
+
+    def step3(_):
+        3
+
+    def step4(_):
+        4
+
+    # Lazy mode (with use statment)
+    step_timer = StepTimer()
+    task = Task()
+    task.use_step_wrapper(step_timer)
+    task.use(step1)
+    task.use(step2)
+    task.use(task.sequence(step3, step4))
+    task.run(3)
+
+    assert len(step_timer.records) == 5
+    for records in step_timer.records.values():
+        assert len(records) == 3
+
+    # Eager mode (with forward statment)
+    step_timer = StepTimer()
+    task = Task()
+    task.use_step_wrapper(step_timer)
+    for _ in range(3):
+        task.forward(step1)  # Step 1
+        task.forward(step2)  # Step 2
+        task.renew()
+
+    assert len(step_timer.records) == 2
+    for records in step_timer.records.values():
+        assert len(records) == 3
+
+    # Wrapper in wrapper
+    step_timer1 = StepTimer()
+    step_timer2 = StepTimer()
+    task = Task()
+    task.use_step_wrapper(step_timer1)
+    task.use_step_wrapper(step_timer2)
+    task.use(step1)
+    task.use(step2)
+    task.run(3)
+
+    assert len(step_timer1.records) == 2
+    assert len(step_timer2.records) == 2
+    for records in step_timer1.records.values():
+        assert len(records) == 3
+    for records in step_timer2.records.values():
+        assert len(records) == 3
diff --git a/ding/framework/wrapper/__init__.py b/ding/framework/wrapper/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..4883440435c131c4e7bf65eab526e1cf36edc49b
--- /dev/null
+++ b/ding/framework/wrapper/__init__.py
@@ -0,0 +1 @@
+from .step_timer import StepTimer
diff --git a/ding/framework/wrapper/step_timer.py b/ding/framework/wrapper/step_timer.py
new file mode 100644
index 0000000000000000000000000000000000000000..ab504ba3a7c1bf20f32e7dfbad5b3b64c830fa70
--- /dev/null
+++ b/ding/framework/wrapper/step_timer.py
@@ -0,0 +1,48 @@
+from collections import deque, defaultdict
+from types import GeneratorType
+from typing import Callable
+from rich import print
+import numpy as np
+import time
+
+
+class StepTimer:
+
+    def __init__(self, print_per_step: int = 1, smooth_window: int = 10) -> None:
+        self.print_per_step = print_per_step
+        self.records = defaultdict(lambda: deque(maxlen=print_per_step * smooth_window))
+
+    def __call__(self, fn: Callable) -> Callable:
+        step_name = getattr(fn, "__name__", type(fn).__name__)
+        step_id = id(fn)
+
+        def executor(ctx):
+            start_time = time.time()
+            time_cost = 0
+            g = fn(ctx)
+            if isinstance(g, GeneratorType):
+                try:
+                    next(g)
+                except StopIteration:
+                    pass
+                time_cost = time.time() - start_time
+                yield
+                start_time = time.time()
+                try:
+                    next(g)
+                except StopIteration:
+                    pass
+                time_cost += time.time() - start_time
+            else:
+                time_cost = time.time() - start_time
+            self.records[step_id].append(time_cost * 1000)
+            if ctx.total_step % self.print_per_step == 0:
+                print(
+                    "[Step Timer] {}: Cost: {:.2f}ms, Mean: {:.2f}ms".format(
+                        step_name, time_cost * 1000, np.mean(self.records[step_id])
+                    )
+                )
+
+        executor.__name__ = "StepTimer<{}>".format(step_name)
+
+        return executor
diff --git a/ding/utils/__init__.py b/ding/utils/__init__.py
index 286ecd1f910e5735637e2984fe6a755657dcbb70..5ff3b04ae5f39b9cd0c182df8cbf3963c8fe5548 100644
--- a/ding/utils/__init__.py
+++ b/ding/utils/__init__.py
@@ -24,6 +24,7 @@ from .system_helper import get_ip, get_pid, get_task_uid, PropagatingThread, fin
 from .time_helper import build_time_helper, EasyTimer, WatchDog
 from .type_helper import SequenceType
 from .scheduler_helper import Scheduler
+from .profiler_helper import Profiler, register_profiler
 
 if ding.enable_linklink:
     from .linklink_dist_helper import get_rank, get_world_size, dist_mode, dist_init, dist_finalize, \
diff --git a/ding/utils/profiler_helper.py b/ding/utils/profiler_helper.py
new file mode 100644
index 0000000000000000000000000000000000000000..20e1024629fa7fdf535c32c6518759ab55f9d3a6
--- /dev/null
+++ b/ding/utils/profiler_helper.py
@@ -0,0 +1,41 @@
+import atexit
+import pstats
+import io
+import cProfile
+import os
+
+
+def register_profiler(write_profile, pr, folder_path):
+    atexit.register(write_profile, pr, folder_path)
+
+
+class Profiler:
+
+    def __init__(self):
+        self.pr = cProfile.Profile()
+
+    def mkdir(self, directory):
+        if not os.path.exists(directory):
+            os.makedirs(directory)
+
+    def write_profile(self, pr, folder_path):
+        pr.disable()
+        s_tottime = io.StringIO()
+        s_cumtime = io.StringIO()
+
+        ps = pstats.Stats(pr, stream=s_tottime).sort_stats('tottime')
+        ps.print_stats()
+        with open(folder_path + "/profile_tottime.txt", 'w+') as f:
+            f.write(s_tottime.getvalue())
+
+        ps = pstats.Stats(pr, stream=s_cumtime).sort_stats('cumtime')
+        ps.print_stats()
+        with open(folder_path + "/profile_cumtime.txt", 'w+') as f:
+            f.write(s_cumtime.getvalue())
+
+        pr.dump_stats(folder_path + "/profile.prof")
+
+    def profile(self, folder_path="./tmp"):
+        self.mkdir(folder_path)
+        self.pr.enable()
+        register_profiler(self.write_profile, self.pr, folder_path)
diff --git a/ding/utils/tests/test_profiler_helper.py b/ding/utils/tests/test_profiler_helper.py
new file mode 100644
index 0000000000000000000000000000000000000000..fd1b075cb2cd6b70fbbdd1dce013e0fcb6fcdaff
--- /dev/null
+++ b/ding/utils/tests/test_profiler_helper.py
@@ -0,0 +1,42 @@
+from easydict import EasyDict
+import pytest
+import unittest
+from unittest import mock
+from unittest.mock import patch
+import pathlib as pl
+import os
+import shutil
+
+from ding.utils.profiler_helper import Profiler, register_profiler
+
+
+@pytest.mark.unittest
+class TestProfilerModule:
+
+    def assertIsFile(self, path):
+        if not pl.Path(path).resolve().is_file():
+            raise AssertionError("File does not exist: %s" % str(path))
+
+    def test(self):
+        profiler = Profiler()
+
+        def register_mock(write_profile, pr, folder_path):
+            profiler.write_profile(pr, folder_path)
+
+        def clean_up(dir):
+            if os.path.exists(dir):
+                shutil.rmtree(dir)
+
+        dir = "./tmp_test/"
+        clean_up(dir)
+
+        with patch('ding.utils.profiler_helper.register_profiler', register_mock):
+            profiler.profile(dir)
+            file_path = os.path.join(dir, "profile_tottime.txt")
+            self.assertIsFile(file_path)
+            file_path = os.path.join(dir, "profile_cumtime.txt")
+            self.assertIsFile(file_path)
+            file_path = os.path.join(dir, "profile.prof")
+            self.assertIsFile(file_path)
+
+        clean_up(dir)
diff --git a/ding/worker/learner/base_learner.py b/ding/worker/learner/base_learner.py
index 20b3b7afcf5c78edac9312181452ed6ad63ed89a..13f0fcb9d3c14b3992ba7839fb8e6c553b2b85c1 100644
--- a/ding/worker/learner/base_learner.py
+++ b/ding/worker/learner/base_learner.py
@@ -238,6 +238,8 @@ class BaseLearner(object):
             self.call_hook('after_iter')
             self._last_iter.add(1)
 
+        return log_vars
+
     @auto_checkpoint
     def start(self) -> None:
         """
diff --git a/setup.py b/setup.py
index f5745074bc60fff6b76f5c59e752de722269fd66..ad29a48297087486c3a8d3edadea0e8779822378 100755
--- a/setup.py
+++ b/setup.py
@@ -73,6 +73,9 @@ setup(
         'scipy',
         'trueskill',
         'h5py',
+        'rich',
+        'mpire',
+        'pynng'
     ],
     extras_require={
         'test': [
@@ -135,7 +138,6 @@ setup(
         # 'gym_soccer_env': [
         #     'gym-soccer @ git+https://github.com/LikeJulia/gym-soccer@dev-install-packages#egg=gym-soccer',
         # ],
-
         'sc2_env': [
             'absl-py>=0.1.0',
             'future',