

"""simple docstring"""





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


__UpperCamelCase  :      Optional[int]							      =		{
    '''n_samples''': 6_4,
    '''horizon''': 3_2,
    '''num_inference_steps''': 2_0,
    '''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__":
							__UpperCamelCase  :      Optional[int]							      =		'''hopper-medium-v2'''
							__UpperCamelCase  :      Optional[int]							      =		gym.make(env_name)

							__UpperCamelCase  :      List[Any]							      =		ValueGuidedRLPipeline.from_pretrained(
							    '''bglick13/hopper-medium-v2-value-function-hor32''',
							    env=env,
							)

							env.seed(0)
							__UpperCamelCase  :      List[Any]							      =		env.reset()
							__UpperCamelCase  :      Optional[Any]							      =		0
							__UpperCamelCase  :      Any							      =		0
							__UpperCamelCase  :      Any							      =		1_0_0_0
							__UpperCamelCase  :      Dict							      =		[obs.copy()]
							try:
														for t in tqdm.tqdm(range(T)):
																					# call the policy
																					__UpperCamelCase  :      Optional[int]							      =		pipeline(obs, planning_horizon=3_2)

																					# execute action in environment
																					__UpperCamelCase      ,    __UpperCamelCase      ,    __UpperCamelCase      ,    __UpperCamelCase  :      Optional[Any]							      =		env.step(denorm_actions)
																					__UpperCamelCase  :      Optional[Any]							      =		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())

																					__UpperCamelCase  :      str							      =		next_observation
							except KeyboardInterrupt:
														pass

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







"""simple docstring"""





import importlib
import math
import os
from dataclasses import dataclass
from enum import Enum
from typing import Any, Dict, Optional, Tuple, Union

import flax
import jax.numpy as jnp

from ..utils import BaseOutput


__UpperCamelCase  :      Optional[Any]							      =		'''scheduler_config.json'''







class 				SCREAMING_SNAKE_CASE					(		a_       ):






					"""simple docstring"""



					lowercase__				 =       1
					lowercase__				 =       2
					lowercase__				 =       3
					lowercase__				 =       4
					lowercase__				 =       5







@dataclass
class 				SCREAMING_SNAKE_CASE					(		a_       ):






					"""simple docstring"""



					lowercase__				 =       42







class 				SCREAMING_SNAKE_CASE					:






					"""simple docstring"""



					lowercase__				 =       SCHEDULER_CONFIG_NAME
					lowercase__				 =       ["dtype"]
					lowercase__				 =       []
					lowercase__				 =       True







					@classmethod
					def        __lowerCAmelCase (       cls			:				List[Any]   ,lowercase_			:				Dict[str, Any] = None   ,lowercase_			:				Optional[str] = None   ,lowercase_			:				Optional[int]=False   ,**lowercase_			:				Any   ,):
						lowerCAmelCase__				,lowerCAmelCase__	:						Dict  				=	cls.load_config(
						    pretrained_model_name_or_path=lowercase_   ,subfolder=lowercase_   ,return_unused_kwargs=lowercase_   ,**lowercase_   ,)
						lowerCAmelCase__				,lowerCAmelCase__	:						Union[str, Any]  				=	cls.from_config(lowercase_   ,return_unused_kwargs=lowercase_   ,**lowercase_		)

						if hasattr(lowercase_   ,'''create_state'''		) and getattr(lowercase_   ,'''has_state'''   ,lowercase_		):
							lowerCAmelCase__	:						List[Any]  				=	scheduler.create_state()

						if return_unused_kwargs:
							return scheduler, state, unused_kwargs

						return scheduler, state







					def        __lowerCAmelCase (       self			:				Tuple   ,lowercase_			:				Union[str, os.PathLike]   ,lowercase_			:				bool = False   ,**lowercase_			:				str		):
						self.save_config(save_directory=lowercase_   ,push_to_hub=lowercase_   ,**lowercase_		)







					@property
					def        __lowerCAmelCase (       self			:				List[str]		):
						return self._get_compatibles()







					@classmethod
					def        __lowerCAmelCase (       cls			:				List[Any]		):
						lowerCAmelCase__	:						Tuple  				=	list(set([cls.__name__] + cls._compatibles		)		)
						lowerCAmelCase__	:						Tuple  				=	importlib.import_module(__name__.split('''.'''		)[0]		)
						lowerCAmelCase__	:						Union[str, Any]  				=	[
						    getattr(lowercase_   ,lowercase_		) for c in compatible_classes_str if hasattr(lowercase_   ,lowercase_		)
						]
						return compatible_classes

def   __SCREAMING_SNAKE_CASE  (      A_						,     A_ ):
	assert len(A_ ) >= x.ndim
	return jnp.broadcast_to(x.reshape(x.shape + (1,) * (len(A_ ) - x.ndim) )						,     A_ )

def   __SCREAMING_SNAKE_CASE  (      A_						,     A_=0.999						,     A_=jnp.floataa ):

	def alpha_bar(A_ ):
		return math.cos((time_step + 0.008) / 1.008 * math.pi / 2 ) ** 2

	lowerCAmelCase__	:						Optional[Any]  				=	[]
	for i in range(A_ ):
		lowerCAmelCase__	:						str  				=	i / num_diffusion_timesteps
		lowerCAmelCase__	:						Union[str, Any]  				=	(i + 1) / num_diffusion_timesteps
		betas.append(min(1 - alpha_bar(A_ ) / alpha_bar(A_ )						,     A_ ) )
	return jnp.array(A_						,     dtype=A_ )







@flax.struct.dataclass
class 				SCREAMING_SNAKE_CASE					:






					"""simple docstring"""



					lowercase__				 =       42
					lowercase__				 =       42
					lowercase__				 =       42







					@classmethod
					def        __lowerCAmelCase (       cls			:				Union[str, Any]   ,lowercase_			:				List[Any]		):
						lowerCAmelCase__	:						Optional[int]  				=	scheduler.config

						if config.trained_betas is not None:
							lowerCAmelCase__	:						Any  				=	jnp.asarray(config.trained_betas   ,dtype=scheduler.dtype		)
						elif config.beta_schedule == "linear":
							lowerCAmelCase__	:						Union[str, Any]  				=	jnp.linspace(config.beta_start   ,config.beta_end   ,config.num_train_timesteps   ,dtype=scheduler.dtype		)
						elif config.beta_schedule == "scaled_linear":
							# this schedule is very specific to the latent diffusion model.
							lowerCAmelCase__	:						int  				=	(
							    jnp.linspace(
							        config.beta_start**0.5   ,config.beta_end**0.5   ,config.num_train_timesteps   ,dtype=scheduler.dtype		)
							    ** 2
							)
						elif config.beta_schedule == "squaredcos_cap_v2":
							# Glide cosine schedule
							lowerCAmelCase__	:						List[Any]  				=	betas_for_alpha_bar(config.num_train_timesteps   ,dtype=scheduler.dtype		)
						else:
							raise NotImplementedError(
							    F'beta_schedule {config.beta_schedule} is not implemented for scheduler {scheduler.__class__.__name__}'		)

						lowerCAmelCase__	:						str  				=	1.0 - betas

						lowerCAmelCase__	:						Union[str, Any]  				=	jnp.cumprod(lowercase_   ,axis=0		)

						return cls(
						    alphas=lowercase_   ,betas=lowercase_   ,alphas_cumprod=lowercase_   ,)

def   __SCREAMING_SNAKE_CASE  (      A_						,     A_						,     A_						,     A_ ):
	lowerCAmelCase__	:						Any  				=	state.alphas_cumprod

	lowerCAmelCase__	:						Optional[Any]  				=	alphas_cumprod[timesteps] ** 0.5
	lowerCAmelCase__	:						Tuple  				=	sqrt_alpha_prod.flatten()
	lowerCAmelCase__	:						str  				=	broadcast_to_shape_from_left(A_						,     original_samples.shape )

	lowerCAmelCase__	:						Optional[Any]  				=	(1 - alphas_cumprod[timesteps]) ** 0.5
	lowerCAmelCase__	:						Optional[Any]  				=	sqrt_one_minus_alpha_prod.flatten()
	lowerCAmelCase__	:						Optional[int]  				=	broadcast_to_shape_from_left(A_						,     original_samples.shape )

	return sqrt_alpha_prod, sqrt_one_minus_alpha_prod

def   __SCREAMING_SNAKE_CASE  (      A_						,     A_						,     A_						,     A_ ):
	lowerCAmelCase__				,lowerCAmelCase__	:						List[Any]  				=	get_sqrt_alpha_prod(A_						,     A_						,     A_						,     A_ )
	lowerCAmelCase__	:						str  				=	sqrt_alpha_prod * original_samples + sqrt_one_minus_alpha_prod * noise
	return noisy_samples





def   __SCREAMING_SNAKE_CASE  (      A_						,     A_						,     A_						,     A_ ):
	lowerCAmelCase__				,lowerCAmelCase__	:						List[Any]  				=	get_sqrt_alpha_prod(A_						,     A_						,     A_						,     A_ )
	lowerCAmelCase__	:						Union[str, Any]  				=	sqrt_alpha_prod * noise - sqrt_one_minus_alpha_prod * sample
	return velocity




