





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


SCREAMING_SNAKE_CASE__       :			List[str]			      =						{
    """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__":
  SCREAMING_SNAKE_CASE__       :			List[str]			      =						"""hopper-medium-v2"""
  SCREAMING_SNAKE_CASE__       :			Optional[Any]			      =						gym.make(env_name)

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

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

      # execute action in environment
      SCREAMING_SNAKE_CASE__      ,     SCREAMING_SNAKE_CASE__      ,     SCREAMING_SNAKE_CASE__      ,     SCREAMING_SNAKE_CASE__       :			Dict			      =						env.step(denorm_actions)
      SCREAMING_SNAKE_CASE__       :			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())

      SCREAMING_SNAKE_CASE__       :			Tuple			      =						next_observation
  except KeyboardInterrupt:
    pass

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








from __future__ import annotations

from random import random







class   __lowerCAmelCase			:





   def __init__( self					,			snake_case = None      )				->  Any:
      """simple docstring"""





      a__	:						Optional[int]      		=  value
      a__	:						Tuple      		=  random()
      a__	:						Node | None      		=  None
      a__	:						Node | None      		=  None





   def __repr__( self      )				->  str:
      """simple docstring"""





      from pprint import pformat

      if self.left is None and self.right is None:
         return F"""'{self.value}: {self.prior:.5}'"""
      else:
         return pformat(
             {F"""{self.value}: {self.prior:.5}""": (self.left, self.right)}					,			indent=1      )





   def __str__( self      )				->  str:
      """simple docstring"""





      a__	:						List[Any]      		=  str(self.value      ) + " "
      a__	:						List[str]      		=  str(self.left or ""      )
      a__	:						Tuple      		=  str(self.right or ""      )
      return value + left + right







def       _A  (      lowerCamelCase							, lowerCamelCase   ):
   if root is None:  # None tree is split into 2 Nones
      return None, None
   elif root.value is None:
      return None, None
   else:
      if value < root.value:
         a__		,     a__	:						Dict      		=  split(root.left							, lowerCamelCase   )
         return left, root
      else:
         a__		,     a__	:						int      		=  split(root.right							, lowerCamelCase   )
         return root, right






def       _A  (      lowerCamelCase							, lowerCamelCase   ):
   if (not left) or (not right):  # If one node is None, return the other
      return left or right
   elif left.prior < right.prior:
      a__	:						List[Any]      		=  merge(left.right							, lowerCamelCase   )
      return left
   else:
      a__	:						int      		=  merge(lowerCamelCase							, right.left   )
      return right






def       _A  (      lowerCamelCase							, lowerCamelCase   ):
   a__	:						Any      		=  Node(lowerCamelCase   )
   a__		,     a__	:						List[str]      		=  split(lowerCamelCase							, lowerCamelCase   )
   return merge(merge(lowerCamelCase							, lowerCamelCase   )							, lowerCamelCase   )






def       _A  (      lowerCamelCase							, lowerCamelCase   ):
   a__		,     a__	:						Optional[int]      		=  split(lowerCamelCase							, value - 1   )
   a__		,     a__	:						Tuple      		=  split(lowerCamelCase							, lowerCamelCase   )
   return merge(lowerCamelCase							, lowerCamelCase   )






def       _A  (      lowerCamelCase   ):
   if not root:  # None
      return
   else:
      inorder(root.left   )
      print(root.value							, end=","   )
      inorder(root.right   )






def       _A  (      lowerCamelCase							, lowerCamelCase   ):
   for arg in args.split():
      if arg[0] == "+":
         a__	:						int      		=  insert(lowerCamelCase							, int(arg[1:]   )   )

      elif arg[0] == "-":
         a__	:						Union[str, Any]      		=  erase(lowerCamelCase							, int(arg[1:]   )   )

      else:
         print("Unknown command"   )

   return root






def       _A  (      ):
   a__	:						List[str]      		=  None
   print(
       "enter numbers to create a tree, + value to add value into treap, "
       "- value to erase all nodes with value. 'q' to quit. "   )

   a__	:						int      		=  input()
   while args != "q":
      a__	:						Union[str, Any]      		=  interact_treap(lowerCamelCase							, lowerCamelCase   )
      print(lowerCamelCase   )
      a__	:						Optional[Any]      		=  input()

   print("good by!"   )


if __name__ == "__main__":
  import doctest

  doctest.testmod()
  main()

