


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


__UpperCAmelCase : str 			=				{
    "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__":
  __UpperCAmelCase : Optional[int] 			=				"hopper-medium-v2"
  __UpperCAmelCase : Optional[int] 			=				gym.make(env_name)

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

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

      # execute action in environment
      __UpperCAmelCase : List[str] 			=				env.step(denorm_actions)
      __UpperCAmelCase : Dict 			=				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}''')





import torch

from transformers import AutoModel



class    UpperCAmelCase_	(							torch.nn.Module):
       '''simple docstring'''






       def __init__(     self ,					__SCREAMING_SNAKE_CASE="sayef/fsner-bert-base-uncased"						):




              """simple docstring"""




              super(__SCREAMING_SNAKE_CASE ,					self						).__init__()

              UpperCamelCase    :	List[str]   	=		AutoModel.from_pretrained(__SCREAMING_SNAKE_CASE ,					return_dict=__SCREAMING_SNAKE_CASE						)
              UpperCamelCase    :	Optional[int]   	=		torch.nn.CosineSimilarity(3 ,					1e-08						)
              UpperCamelCase    :	List[Any]   	=		torch.nn.Softmax(dim=1						)






       def  _lowercase   (     self ,					**__SCREAMING_SNAKE_CASE						):




              """simple docstring"""




              return self.bert(**__SCREAMING_SNAKE_CASE						).last_hidden_state






       def  _lowercase   (     self ,					__SCREAMING_SNAKE_CASE						):




              """simple docstring"""




              return token_embeddings.sum(2 ,					keepdim=__SCREAMING_SNAKE_CASE						)






       def  _lowercase   (     self ,					__SCREAMING_SNAKE_CASE ,					__SCREAMING_SNAKE_CASE ,					__SCREAMING_SNAKE_CASE=1						):




              """simple docstring"""




              return self.softmax(T * self.cos(__SCREAMING_SNAKE_CASE ,					__SCREAMING_SNAKE_CASE						)						)






       def  _lowercase   (     self ,					__SCREAMING_SNAKE_CASE ,					__SCREAMING_SNAKE_CASE						):




              """simple docstring"""




              UpperCamelCase    :	Any   	=		W_supports['''sizes'''].tolist()
              UpperCamelCase    :	Optional[int]   	=		W_supports['''start_token_id'''].item()
              UpperCamelCase    :	Any   	=		W_supports['''end_token_id'''].item()

              del W_supports["sizes"]
              del W_supports["start_token_id"]
              del W_supports["end_token_id"]

              UpperCamelCase    :	Union[str, Any]   	=		self.BERT(**__SCREAMING_SNAKE_CASE						)
              UpperCamelCase    :	List[str]   	=		self.BERT(**__SCREAMING_SNAKE_CASE						)

              UpperCamelCase    :	List[Any]   	=		None
              UpperCamelCase    :	Any   	=		None

              UpperCamelCase    :	Optional[Any]   	=		W_supports['''input_ids'''] == start_token_id
              UpperCamelCase    :	Any   	=		W_supports['''input_ids'''] == end_token_id

              for i, size in enumerate(__SCREAMING_SNAKE_CASE						):
                     if i == 0:
                            UpperCamelCase    :	Optional[int]   	=		0
                     else:
                            UpperCamelCase    :	Tuple   	=		support_sizes[i - 1]

                     UpperCamelCase    :	Tuple   	=		S[s : s + size][start_token_masks[s : s + size]]
                     UpperCamelCase    :	List[str]   	=		S[s : s + size][end_token_masks[s : s + size]]

                     UpperCamelCase    :	Dict   	=		torch.matmul(q[i] ,					s_start.T						).sum(1						).softmax(0						)
                     UpperCamelCase    :	Tuple   	=		torch.matmul(q[i] ,					s_end.T						).sum(1						).softmax(0						)

                     if p_starts is not None:
                            UpperCamelCase    :	List[str]   	=		torch.vstack((p_starts, p_start)						)
                            UpperCamelCase    :	Union[str, Any]   	=		torch.vstack((p_ends, p_end)						)
                     else:
                            UpperCamelCase    :	str   	=		p_start
                            UpperCamelCase    :	Optional[int]   	=		p_end

              return p_starts, p_ends

