

import darl  # noqa
import gym
import tqdm
from diffusers.experimental import ValueGuidedRLPipeline


lowerCAmelCase							:  Tuple            =						{
    """n_samples""": 64,
    """horizon""": 32,
    """num_inference_steps""": 20,
    """n_guide_steps""": 2,  # can set to 0 for faster sampling, does not use value network
    """scale_grad_by_std""": True,
    """scale""": 0.1,
    """eta""": 0.0,
    """t_grad_cutoff""": 2,
    """device""": """cpu""",
}


if __name__ == "__main__":
						lowerCAmelCase							:  Optional[int]            =						"""hopper-medium-v2"""
						lowerCAmelCase							:  Optional[int]            =						gym.make(env_name)

						lowerCAmelCase							:  Optional[int]            =						ValueGuidedRLPipeline.from_pretrained(
						    """bglick13/hopper-medium-v2-value-function-hor32""",
						    env=env,
						)

						env.seed(0)
						lowerCAmelCase							:  Optional[Any]            =						env.reset()
						lowerCAmelCase							:  Union[str, Any]            =						0
						lowerCAmelCase							:  Optional[int]            =						0
						lowerCAmelCase							:  Optional[int]            =						1000
						lowerCAmelCase							:  Dict            =						[obs.copy()]
						try:
												for t in tqdm.tqdm(range(T)):
																		# call the policy
																		lowerCAmelCase							:  Union[str, Any]            =						pipeline(obs, planning_horizon=32)

																		# execute action in environment
																		lowerCAmelCase     ,      lowerCAmelCase     ,      lowerCAmelCase     ,      lowerCAmelCase							:  Dict            =						env.step(denorm_actions)
																		lowerCAmelCase							:  Tuple            =						env.get_normalized_score(total_reward)

																		# update return
																		total_reward += reward
																		total_score += score
																		print(
																		    f'''Step: {t}, Reward: {reward}, Total Reward: {total_reward}, Score: {score}, Total Score:'''
																		    f''' {total_score}'''
																		)

																		# save observations for rendering
																		rollout.append(next_observation.copy())

																		lowerCAmelCase							:  Tuple            =						next_observation
						except KeyboardInterrupt:
												pass

						print(f'''Total reward: {total_reward}''')









import doctest
from collections import deque

import numpy as np



class   __lowercase    :




			"""simple docstring"""







			def __init__(			self  :					Union[str, Any]):
									SCREAMING_SNAKE_CASE_:			int  		=	[2, 1, 2, -1]
									SCREAMING_SNAKE_CASE_:			Optional[Any]  		=	[1, 2, 3, 4]




			def 	_SCREAMING_SNAKE_CASE      (			self  :					Tuple):
									SCREAMING_SNAKE_CASE_:			Any  		=	len(self.first_signal)
									SCREAMING_SNAKE_CASE_:			Dict  		=	len(self.second_signal)

									SCREAMING_SNAKE_CASE_:			Union[str, Any]  		=	max(lowerCAmelCase__       ,						lowerCAmelCase__)

									# create a zero matrix of max_length x max_length
									SCREAMING_SNAKE_CASE_:			List[Any]  		=	[[0] * max_length for i in range(lowerCAmelCase__)]

									# fills the smaller signal with zeros to make both signals of same length
									if length_first_signal < length_second_signal:
															self.first_signal += [0] * (max_length - length_first_signal)
									elif length_first_signal > length_second_signal:
															self.second_signal += [0] * (max_length - length_second_signal)
									for i in range(lowerCAmelCase__):
															SCREAMING_SNAKE_CASE_:			Tuple  		=	deque(self.second_signal)
															rotated_signal.rotate(lowerCAmelCase__)
															for j, item in enumerate(lowerCAmelCase__):
																					matrix[i][j] += item

        # multiply the matrix with the first signal
									SCREAMING_SNAKE_CASE_:			Optional[Any]  		=	np.matmul(np.transpose(lowerCAmelCase__)       ,						np.transpose(self.first_signal))

									# rounding-off to two decimal places
									return [round(lowerCAmelCase__       ,						2) for i in final_signal]


if __name__ == "__main__":
						doctest.testmod()






