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


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

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

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

			# execute action in environment
			lowerCAmelCase__	   = env.step(denorm_actions)
			lowerCAmelCase__	   = 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__	   = next_observation
	except KeyboardInterrupt:
		pass

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




from __future__ import annotations

from collections.abc import Iterator
from typing import Any

class 					a__						:
			"""simple docstring"""







			def __init__(    self      ,      lowercase       )  ->						int:
							'''simple docstring'''






							A__        =			data
							A__        =			None

class 					a__						:
			"""simple docstring"""







			def __init__(    self       )  ->						List[Any]:
							'''simple docstring'''






							A__        =			None
							A__        =			None


			def __iter__(    self       )  ->						Iterator[Any]:
							'''simple docstring'''






							A__        =			self.head
							while self.head:
											yield node.data
											A__        =			node.next
											if node == self.head:
															break


			def __len__(    self       )  ->						int:
							'''simple docstring'''






							return sum(1 for _ in self       )


			def __repr__(    self       )  ->						List[Any]:
							'''simple docstring'''






							return "->".join(str(lowercase       ) for item in iter(self       )       )


			def      UpperCamelCase		(    self      ,      lowercase       )  ->						None:
							'''simple docstring'''






							self.insert_nth(len(self       )      ,      lowercase       )


			def      UpperCamelCase		(    self      ,      lowercase       )  ->						None:
							'''simple docstring'''






							self.insert_nth(0      ,      lowercase       )


			def      UpperCamelCase		(    self      ,      lowercase      ,      lowercase       )  ->						None:
							'''simple docstring'''






							if index < 0 or index > len(self       ):
											raise IndexError("list index out of range."       )
							A__        =			Node(lowercase       )
							if self.head is None:
											A__        =			new_node  # first node points itself
											A__        =			A__        =			new_node
							elif index == 0:  # insert at head
											A__        =			self.head
											A__        =			A__        =			new_node
							else:
											A__        =			self.head
											for _ in range(index - 1       ):
															A__        =			temp.next
											A__        =			temp.next
											A__        =			new_node
											if index == len(self       ) - 1:  # insert at tail
															A__        =			new_node


			def      UpperCamelCase		(    self       )  ->						List[Any]:
							'''simple docstring'''






							return self.delete_nth(0       )


			def      UpperCamelCase		(    self       )  ->						Any:
							'''simple docstring'''






							return self.delete_nth(len(self       ) - 1       )


			def      UpperCamelCase		(    self      ,      lowercase = 0       )  ->						Any:
							'''simple docstring'''






							if not 0 <= index < len(self       ):
											raise IndexError("list index out of range."       )
							A__        =			self.head
							if self.head == self.tail:  # just one node
											A__        =			A__        =			None
							elif index == 0:  # delete head node
											A__        =			self.tail.next.next
											A__        =			self.head.next
							else:
											A__        =			self.head
											for _ in range(index - 1       ):
															A__        =			temp.next
											A__        =			temp.next
											A__        =			temp.next.next
											if index == len(self       ) - 1:  # delete at tail
															A__        =			temp
							return delete_node.data


			def      UpperCamelCase		(    self       )  ->						bool:
							'''simple docstring'''






							return len(self       ) == 0



def 					lowerCAmelCase__							(	)			->      None:




				'''simple docstring'''





				A__        =			CircularLinkedList()
				assert len(SCREAMING_SNAKE_CASE_      ) == 0
				assert circular_linked_list.is_empty() is True
				assert str(SCREAMING_SNAKE_CASE_      ) == ""

				try:
								circular_linked_list.delete_front()
								raise AssertionError  # This should not happen
				except IndexError:
								assert True  # This should happen

				try:
								circular_linked_list.delete_tail()
								raise AssertionError  # This should not happen
				except IndexError:
								assert True  # This should happen

				try:
								circular_linked_list.delete_nth(-1      )
								raise AssertionError
				except IndexError:
								assert True

				try:
								circular_linked_list.delete_nth(0      )
								raise AssertionError
				except IndexError:
								assert True

				assert circular_linked_list.is_empty() is True
				for i in range(5      ):
								assert len(SCREAMING_SNAKE_CASE_      ) == i
								circular_linked_list.insert_nth(SCREAMING_SNAKE_CASE_	,       i + 1      )
				assert str(SCREAMING_SNAKE_CASE_      ) == "->".join(str(SCREAMING_SNAKE_CASE_      ) for i in range(1	,       6      )      )

				circular_linked_list.insert_tail(6      )
				assert str(SCREAMING_SNAKE_CASE_      ) == "->".join(str(SCREAMING_SNAKE_CASE_      ) for i in range(1	,       7      )      )
				circular_linked_list.insert_head(0      )
				assert str(SCREAMING_SNAKE_CASE_      ) == "->".join(str(SCREAMING_SNAKE_CASE_      ) for i in range(0	,       7      )      )

				assert circular_linked_list.delete_front() == 0
				assert circular_linked_list.delete_tail() == 6
				assert str(SCREAMING_SNAKE_CASE_      ) == "->".join(str(SCREAMING_SNAKE_CASE_      ) for i in range(1	,       6      )      )
				assert circular_linked_list.delete_nth(2      ) == 3

				circular_linked_list.insert_nth(2	,       3      )
				assert str(SCREAMING_SNAKE_CASE_      ) == "->".join(str(SCREAMING_SNAKE_CASE_      ) for i in range(1	,       6      )      )

				assert circular_linked_list.is_empty() is False


if __name__ == "__main__":
	import doctest

	doctest.testmod()

