




'''simple docstring'''





import numpy as np
import torch
import tqdm

from ...models.unet_ad import UNetaDModel
from ...pipelines import DiffusionPipeline
from ...utils import randn_tensor
from ...utils.dummy_pt_objects import DDPMScheduler




class 			_snake_case		(     lowercase_							):




			def __init__( self    ,							a__    ,							a__    ,							a__    ,							a__    ,							)    ->    str:

										'''simple docstring'''




										super().__init__()
										snake_case_      =				value_function
										snake_case_      =				unet
										snake_case_      =				scheduler
										snake_case_      =				env
										snake_case_      =				env.get_dataset()
										snake_case_      =				{}
										for key in self.data.keys():
																	try:
																								snake_case_      =				self.data[key].mean()
																	except:  # noqa: E722
																								pass
										snake_case_      =				{}
										for key in self.data.keys():
																	try:
																								snake_case_      =				self.data[key].std()
																	except:  # noqa: E722
																								pass
										snake_case_      =				env.observation_space.shape[0]
										snake_case_      =				env.action_space.shape[0]




			def        lowerCAmelCase__    ( self    ,							a__    ,							a__							)    ->    Union[str, Any]:

										'''simple docstring'''




										return (x_in - self.means[key]) / self.stds[key]




			def        lowerCAmelCase__    ( self    ,							a__    ,							a__							)    ->    str:

										'''simple docstring'''




										return x_in * self.stds[key] + self.means[key]




			def        lowerCAmelCase__    ( self    ,							a__							)    ->    Any:

										'''simple docstring'''




										if type(a__							) is dict:
																	return {k: self.to_torch(a__							) for k, v in x_in.items()}
										elif torch.is_tensor(a__							):
																	return x_in.to(self.unet.device							)
										return torch.tensor(a__    ,							device=self.unet.device							)




			def        lowerCAmelCase__    ( self    ,							a__    ,							a__    ,							a__							)    ->    Dict:

										'''simple docstring'''




										for key, val in cond.items():
																	snake_case_      =				val.clone()
										return x_in




			def        lowerCAmelCase__    ( self    ,							a__    ,							a__    ,							a__    ,							a__							)    ->    str:

										'''simple docstring'''




										snake_case_      =				x.shape[0]
										snake_case_      =				None
										for i in tqdm.tqdm(self.scheduler.timesteps							):
																	# create batch of timesteps to pass into model
																	snake_case_      =				torch.full((batch_size,)    ,							a__    ,							device=self.unet.device    ,							dtype=torch.long							)
																	for _ in range(a__							):
																								with torch.enable_grad():
																															x.requires_grad_()

																															# permute to match dimension for pre-trained models
																															snake_case_      =				self.value_function(x.permute(0    ,							2    ,							1							)    ,							a__							).sample
																															snake_case_      =				torch.autograd.grad([y.sum()]    ,							[x]							)[0]

																															snake_case_      =				self.scheduler._get_variance(a__							)
																															snake_case_      =				torch.exp(0.5 * posterior_variance							)
																															snake_case_      =				model_std * grad

																								snake_case_      =				0
																								snake_case_      =				x.detach()
																								snake_case_      =				x + scale * grad
																								snake_case_      =				self.reset_xa(a__    ,							a__    ,							self.action_dim							)

																	snake_case_      =				self.unet(x.permute(0    ,							2    ,							1							)    ,							a__							).sample.permute(0    ,							2    ,							1							)

																	# TODO: verify deprecation of this kwarg
																	snake_case_      =				self.scheduler.step(a__    ,							a__    ,							a__    ,							predict_epsilon=a__							)["prev_sample"]

																	# apply conditions to the trajectory (set the initial state)
																	snake_case_      =				self.reset_xa(a__    ,							a__    ,							self.action_dim							)
																	snake_case_      =				self.to_torch(a__							)
										return x, y




			def __call__( self    ,							a__    ,							a__=64    ,							a__=32    ,							a__=2    ,							a__=0.1							)    ->    Optional[Any]:

										'''simple docstring'''




										snake_case_      =				self.normalize(a__    ,							"observations"							)
										snake_case_      =				obs[None].repeat(a__    ,							axis=0							)

										snake_case_      =				{0: self.to_torch(a__							)}
										snake_case_      =				(batch_size, planning_horizon, self.state_dim + self.action_dim)

										# generate initial noise and apply our conditions (to make the trajectories start at current state)
										snake_case_      =				randn_tensor(a__    ,							device=self.unet.device							)
										snake_case_      =				self.reset_xa(a__    ,							a__    ,							self.action_dim							)
										snake_case_      =				self.to_torch(a__							)

										# run the diffusion process
										snake_case_ ,				snake_case_      =				self.run_diffusion(a__    ,							a__    ,							a__    ,							a__							)

										# sort output trajectories by value
										snake_case_      =				y.argsort(0    ,							descending=a__							).squeeze()
										snake_case_      =				x[sorted_idx]
										snake_case_      =				sorted_values[:, :, : self.action_dim]
										snake_case_      =				actions.detach().cpu().numpy()
										snake_case_      =				self.de_normalize(a__    ,							key="actions"							)

										# select the action with the highest value
										if y is not None:
																	snake_case_      =				0
										else:
																	# if we didn't run value guiding, select a random action
																	snake_case_      =				np.random.randint(0    ,							a__							)

										snake_case_      =				denorm_actions[selected_index, 0]
										return denorm_actions










'''simple docstring'''





from ..utils import DummyObject, requires_backends




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				Dict							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    List[Any]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    List[Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    str:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				Dict							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Dict:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Optional[Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    List[str]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				Optional[Any]							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    str:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Optional[int]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    List[str]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				Optional[Any]							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Union[str, Any]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    List[str]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Dict:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				List[str]							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Optional[Any]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Optional[Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Optional[int]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				int							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    List[str]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    List[Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Any:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				Optional[Any]							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Any:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    List[Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    int:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				Dict							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Optional[Any]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Optional[int]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    List[Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				List[str]							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Optional[Any]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Dict:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Union[str, Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				int							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Dict:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Union[str, Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    int:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				Any							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Optional[Any]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Tuple:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    str:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				str							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    List[str]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Union[str, Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Union[str, Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




class 			_snake_case		(     metaclass=lowercase_							):
			lowerCAmelCase_					:				Tuple							=   ["flax"]




			def __init__( self    ,							*a__    ,							**a__							)    ->    Optional[Any]:

										'''simple docstring'''




										requires_backends(self    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    int:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




			@classmethod
			def        lowerCAmelCase__    ( cls    ,							*a__    ,							**a__							)    ->    Optional[Any]:

										'''simple docstring'''




										requires_backends(cls    ,							["flax"]							)




