'''simple docstring'''

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


__a:			int	       =       {
    """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__":
  __a:			Tuple	       =       """hopper-medium-v2"""
  __a:			Optional[Any]	       =       gym.make(env_name)

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

  env.seed(0)
  __a:			Dict	       =       env.reset()
  __a:			Union[str, Any]	       =       0
  __a:			List[Any]	       =       0
  __a:			Tuple	       =       10_00
  __a:			Optional[int]	       =       [obs.copy()]
  try:
    for t in tqdm.tqdm(range(T)):
      # call the policy
      __a:			int	       =       pipeline(obs, planning_horizon=32)

      # execute action in environment
      __a       ,      __a       ,      __a       ,      __a:			str	       =       env.step(denorm_actions)
      __a:			str	       =       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())

      __a:			str	       =       next_observation
  except KeyboardInterrupt:
    pass

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


'''simple docstring'''

from manim import *



class       UpperCAmelCase  (						a__ ):





       '''simple docstring'''



       def _lowerCAmelCase(						self			)  ->  List[Any]:
        lowercase__    :   int						= Rectangle(height=0.5     ,       width=0.5			)
        lowercase__    :   Optional[int]						= Rectangle(height=0.2_5     ,       width=0.2_5			)
        lowercase__    :   Tuple						= Rectangle(height=0.4_6     ,       width=0.4_6			).set_stroke(width=0			)

        lowercase__    :   str						= [mem.copy() for i in range(6			)]
        lowercase__    :   Dict						= [mem.copy() for i in range(6			)]
        lowercase__    :   Tuple						= VGroup(*__lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)
        lowercase__    :   List[str]						= VGroup(*__lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)
        lowercase__    :   str						= VGroup(__lowerCAmelCase     ,       __lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)
        lowercase__    :   str						= Text('''CPU'''     ,       font_size=24			)
        lowercase__    :   List[Any]						= Group(__lowerCAmelCase     ,       __lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0.5     ,       aligned_edge=__lowerCAmelCase			)
        cpu.move_to([-2.5, -0.5, 0]			)
        self.add(__lowerCAmelCase			)

        lowercase__    :   Any						= [mem.copy() for i in range(4			)]
        lowercase__    :   int						= VGroup(*__lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)
        lowercase__    :   Optional[int]						= Text('''GPU'''     ,       font_size=24			)
        lowercase__    :   Tuple						= Group(__lowerCAmelCase     ,       __lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0.5     ,       aligned_edge=__lowerCAmelCase			)
        gpu.move_to([-1, -1, 0]			)
        self.add(__lowerCAmelCase			)

        lowercase__    :   int						= [mem.copy() for i in range(6			)]
        lowercase__    :   Optional[int]						= VGroup(*__lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)

        lowercase__    :   Any						= Text('''Model'''     ,       font_size=24			)
        lowercase__    :   Optional[Any]						= Group(__lowerCAmelCase     ,       __lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0.5     ,       aligned_edge=__lowerCAmelCase			)
        model.move_to([3, -1.0, 0]			)
        self.add(__lowerCAmelCase			)

        lowercase__    :   int						= []
        lowercase__    :   int						= []
        lowercase__    :   Any						= []

        for i, rect in enumerate(__lowerCAmelCase			):
         rect.set_stroke(__lowerCAmelCase			)

         lowercase__    :   Optional[int]						= Rectangle(height=0.4_6 / 4     ,       width=0.4_6 / 3			).set_stroke(width=0.0			).set_fill(__lowerCAmelCase     ,       opacity=0.7			)

         if i == 0:
          cpu_target.next_to(cpu_left_col_base[0].get_corner(DOWN + LEFT			)     ,       buff=0.0_2     ,       direction=__lowerCAmelCase			)
          cpu_target.set_x(cpu_target.get_x() + 0.1			)
         elif i == 3:
          cpu_target.next_to(model_cpu_arr[0]     ,       direction=__lowerCAmelCase     ,       buff=0.0			)
         else:
          cpu_target.next_to(model_cpu_arr[i - 1]     ,       direction=__lowerCAmelCase     ,       buff=0.0			)
         self.add(__lowerCAmelCase			)
         model_cpu_arr.append(__lowerCAmelCase			)

        self.add(*__lowerCAmelCase     ,       *__lowerCAmelCase     ,       *__lowerCAmelCase			)

        lowercase__    :   Optional[int]						= [mem.copy() for i in range(6			)]
        lowercase__    :   List[Any]						= VGroup(*__lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)

        lowercase__    :   Optional[Any]						= Text('''Loaded Checkpoint'''     ,       font_size=24			)
        lowercase__    :   Dict						= Group(__lowerCAmelCase     ,       __lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0.5     ,       aligned_edge=__lowerCAmelCase			)
        checkpoint.move_to([3, 0.5, 0]			)

        self.add(__lowerCAmelCase			)

        lowercase__    :   str						= []
        lowercase__    :   List[str]						= []

        for i, rect in enumerate(__lowerCAmelCase			):
         lowercase__    :   List[str]						= fill.copy().set_fill(__lowerCAmelCase     ,       opacity=0.7			)
         target.move_to(__lowerCAmelCase			)
         ckpt_arr.append(__lowerCAmelCase			)

         lowercase__    :   Any						= target.copy()
         if i < 5:
          cpu_target.move_to(cpu_left_col_base[i + 1]			)
         else:
          cpu_target.move_to(cpu_right_col_base[i - 5]			)
         ckpt_cpu_arr.append(__lowerCAmelCase			)
        self.add(*__lowerCAmelCase     ,       *__lowerCAmelCase			)

        lowercase__    :   Optional[int]						= Square(side_length=2.2			)
        key.move_to([-5, 2, 0]			)

        lowercase__    :   Optional[Any]						= MarkupText(
            F"""<b>Key:</b>\n\n<span fgcolor='{YELLOW}'>●</span> Empty Model"""     ,       font_size=18     ,       )

        key_text.move_to([-5, 2.4, 0]			)

        self.add(__lowerCAmelCase     ,       __lowerCAmelCase			)

        lowercase__    :   str						= MarkupText(
            F"""<span fgcolor='{BLUE}'>●</span> Checkpoint"""     ,       font_size=18     ,       )

        blue_text.next_to(__lowerCAmelCase     ,       DOWN * 2.4     ,       aligned_edge=key_text.get_left()			)
        self.add(__lowerCAmelCase			)

        lowercase__    :   Union[str, Any]						= MarkupText(
            F"""Based on the passed in configuration, weights are stored in\na variety of np.memmaps on disk or to a particular device."""     ,       font_size=24     ,       )
        step_a.move_to([2, 2, 0]			)

        lowercase__    :   Tuple						= [meta_mem.copy() for i in range(6			)]
        lowercase__    :   Any						= [meta_mem.copy() for i in range(6			)]
        lowercase__    :   str						= VGroup(*__lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)
        lowercase__    :   Any						= VGroup(*__lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)
        lowercase__    :   Union[str, Any]						= VGroup(__lowerCAmelCase     ,       __lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0			)
        lowercase__    :   Union[str, Any]						= Text('''Disk'''     ,       font_size=24			)
        lowercase__    :   Tuple						= Group(__lowerCAmelCase     ,       __lowerCAmelCase			).arrange(__lowerCAmelCase     ,       buff=0.5     ,       aligned_edge=__lowerCAmelCase			)
        disk.move_to([-4.0, -1.2_5, 0]			)
        self.play(Write(__lowerCAmelCase     ,       run_time=3			)     ,       Write(__lowerCAmelCase     ,       run_time=1			)     ,       Create(__lowerCAmelCase     ,       run_time=1			)			)

        lowercase__    :   Tuple						= []
        for i, rect in enumerate(__lowerCAmelCase			):
         lowercase__    :   Dict						= rect.copy()
         target.generate_target()
         target.target.move_to(disk_left_col_base[i]			).scale(0.5			)
         animations.append(MoveToTarget(__lowerCAmelCase     ,       run_time=1.5			)			)
        self.play(*__lowerCAmelCase			)

        self.play(FadeOut(__lowerCAmelCase			)			)

        lowercase__    :   Dict						= MarkupText(F"""Then, the checkpoint is removed from memory\nthrough garbage collection."""     ,       font_size=24			)
        step_a.move_to([2, 2, 0]			)

        self.play(Write(__lowerCAmelCase     ,       run_time=3			)			)

        self.play(
            FadeOut(__lowerCAmelCase     ,       __lowerCAmelCase     ,       *__lowerCAmelCase     ,       *__lowerCAmelCase			)     ,       )

        self.wait()

