



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


SCREAMING_SNAKE_CASE  					=    {
    '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__":
			SCREAMING_SNAKE_CASE  					=    'hopper-medium-v2'
			SCREAMING_SNAKE_CASE  					=    gym.make(env_name)

			SCREAMING_SNAKE_CASE  					=    ValueGuidedRLPipeline.from_pretrained(
			    "bglick13/hopper-medium-v2-value-function-hor32",
			    env=env,
			)

			env.seed(0)
			SCREAMING_SNAKE_CASE  					=    env.reset()
			SCREAMING_SNAKE_CASE  					=    0
			SCREAMING_SNAKE_CASE  					=    0
			SCREAMING_SNAKE_CASE  					=    1000
			SCREAMING_SNAKE_CASE  					=    [obs.copy()]
			try:
						for t in tqdm.tqdm(range(T)):
									# call the policy
									SCREAMING_SNAKE_CASE  					=    pipeline(obs, planning_horizon=32)

									# execute action in environment
									SCREAMING_SNAKE_CASE  					=    env.step(denorm_actions)
									SCREAMING_SNAKE_CASE  					=    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())

									SCREAMING_SNAKE_CASE  					=    next_observation
			except KeyboardInterrupt:
						pass

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





from random import randint, random




def    a__    (		snake_case__					:							int						,   snake_case__					:							int						,   snake_case__					:							int						,   snake_case__					:							bool = False						,   snake_case__					:							bool = False						,   snake_case__					:							int = 5						,   ):
  _UpperCAmelCase		:							Optional[int]							=     [[-1] * number_of_cells]  # Create a highway without any car
  _UpperCAmelCase		:							Optional[Any]							=     0
  _UpperCAmelCase		:							Dict							=     max(snake_case__						,   0     )
  while i < number_of_cells:
    _UpperCAmelCase		:							int							=     (
        randint(0						,   snake_case__     ) if random_speed else initial_speed
    )  # Place the cars
    i += (
        randint(1						,   max_speed * 2     ) if random_frequency else frequency
    )  # Arbitrary number, may need tuning
  return highway




def    a__    (		snake_case__					:							list						,   snake_case__					:							int     ):
  _UpperCAmelCase		:							List[Any]							=     0
  _UpperCAmelCase		:							int							=     highway_now[car_index + 1 :]
  for cell in range(len(snake_case__     )     ):  # May need a better name for this
    if cells[cell] != -1:  # If the cell is not empty then
      return distance  # we have the distance we wanted
    distance += 1
  # Here if the car is near the end of the highway
  return distance + get_distance(snake_case__						,   -1     )




def    a__    (		snake_case__					:							list						,   snake_case__					:							float						,   snake_case__					:							int     ):
  _UpperCAmelCase		:							Optional[Any]							=     len(snake_case__     )
  # Beforce calculations, the highway is empty
  _UpperCAmelCase		:							Dict							=     [-1] * number_of_cells

  for car_index in range(snake_case__     ):
    if highway_now[car_index] != -1:
      # Add 1 to the current speed of the car and cap the speed
      _UpperCAmelCase		:							Dict							=     min(highway_now[car_index] + 1						,   snake_case__     )
      # Number of empty cell before the next car
      _UpperCAmelCase		:							List[str]							=     get_distance(snake_case__						,   snake_case__     ) - 1
      # We can't have the car causing an accident
      _UpperCAmelCase		:							List[str]							=     min(next_highway[car_index]						,   snake_case__     )
      if random() < probability:
        # Randomly, a driver will slow down
        _UpperCAmelCase		:							Dict							=     max(next_highway[car_index] - 1						,   0     )
  return next_highway




def    a__    (		snake_case__					:							list						,   snake_case__					:							int						,   snake_case__					:							float						,   snake_case__					:							int     ):
  _UpperCAmelCase		:							Union[str, Any]							=     len(highway[0]     )

  for i in range(snake_case__     ):
    _UpperCAmelCase		:							Tuple							=     update(highway[i]						,   snake_case__						,   snake_case__     )
    _UpperCAmelCase		:							int							=     [-1] * number_of_cells

    for car_index in range(snake_case__     ):
      _UpperCAmelCase		:							List[Any]							=     next_speeds_calculated[car_index]
      if speed != -1:
        # Change the position based on the speed (with % to create the loop)
        _UpperCAmelCase		:							Optional[Any]							=     (car_index + speed) % number_of_cells
        # Commit the change of position
        _UpperCAmelCase		:							Optional[Any]							=     speed
    highway.append(snake_case__     )

  return highway


if __name__ == "__main__":
 import doctest

 doctest.testmod()





