






"""simple docstring"""



from __future__ import annotations

import math
import random
from collections.abc import Collection
from typing import overload







class        lowercase__      :


			def __init__(				self					:  Optional[int]       ,	snake_case__					:  Collection[float] | None = None ):
										if components is None:
																	lowerCamelCase_	:							Optional[Any]									=[]
										lowerCamelCase_	:							Tuple									=list(snake_case__ )


			def __len__(				self					:  Union[str, Any] ):
										return len(self.__components )


			def __str__(				self					:  Any ):
										return "(" + ",".join(map(snake_case__       ,	self.__components ) ) + ")"


			def __add__(				self					:  Dict       ,	snake_case__					:  Vector ):
										lowerCamelCase_	:							List[Any]									=len(self )
										if size == len(snake_case__ ):
																	lowerCamelCase_	:							Tuple									=[self.__components[i] + other.component(snake_case__ ) for i in range(snake_case__ )]
																	return Vector(snake_case__ )
										else:
																	raise Exception("must have the same size" )


			def __sub__(				self					:  Tuple       ,	snake_case__					:  Vector ):
										lowerCamelCase_	:							Optional[Any]									=len(self )
										if size == len(snake_case__ ):
																	lowerCamelCase_	:							Dict									=[self.__components[i] - other.component(snake_case__ ) for i in range(snake_case__ )]
																	return Vector(snake_case__ )
										else:  # error case
																	raise Exception("must have the same size" )


			@overload
			def __mul__(				self					:  str       ,	snake_case__					:  float ):
										...


			@overload
			def __mul__(				self					:  Union[str, Any]       ,	snake_case__					:  Vector ):
										...


			def __mul__(				self					:  Any       ,	snake_case__					:  float | Vector ):
										if isinstance(snake_case__       ,	(float, int) ):
																	lowerCamelCase_	:							int									=[c * other for c in self.__components]
																	return Vector(snake_case__ )
										elif isinstance(snake_case__       ,	snake_case__ ) and len(self ) == len(snake_case__ ):
																	lowerCamelCase_	:							Optional[Any]									=len(self )
																	lowerCamelCase_	:							Union[str, Any]									=[self.__components[i] * other.component(snake_case__ ) for i in range(snake_case__ )]
																	return sum(snake_case__ )
										else:  # error case
																	raise Exception("invalid operand!" )


			def      UpperCAmelCase__						(				self					:  Any ):
										return Vector(self.__components )


			def      UpperCAmelCase__						(				self					:  Union[str, Any]       ,	snake_case__					:  int ):
										if isinstance(snake_case__       ,	snake_case__ ) and -len(self.__components ) <= i < len(self.__components ):
																	return self.__components[i]
										else:
																	raise Exception("index out of range" )


			def      UpperCAmelCase__						(				self					:  Union[str, Any]       ,	snake_case__					:  int       ,	snake_case__					:  float ):
										assert -len(self.__components ) <= pos < len(self.__components )
										lowerCamelCase_	:							Tuple									=value


			def      UpperCAmelCase__						(				self					:  Union[str, Any] ):
										if len(self.__components ) == 0:
																	raise Exception("Vector is empty" )
										lowerCamelCase_	:							str									=[c**2 for c in self.__components]
										return math.sqrt(sum(snake_case__ ) )


			def      UpperCAmelCase__						(				self					:  Any       ,	snake_case__					:  Vector       ,	snake_case__					:  bool = False ):
										lowerCamelCase_	:							Optional[Any]									=self * other
										lowerCamelCase_	:							Optional[int]									=self.euclidean_length() * other.euclidean_length()
										if deg:
																	return math.degrees(math.acos(num / den ) )
										else:
																	return math.acos(num / den )


def 			_snake_case    (					lowerCamelCase__     :   int  )    ->     Vector:
							assert isinstance(lowerCamelCase__    ,						lowerCamelCase__  )
							return Vector([0] * dimension  )

def 			_snake_case    (					lowerCamelCase__     :   int    ,						lowerCamelCase__     :   int  )    ->     Vector:
							assert isinstance(lowerCamelCase__    ,						lowerCamelCase__  ) and (isinstance(lowerCamelCase__    ,						lowerCamelCase__  ))
							lowerCamelCase_	:							Union[str, Any]									=[0] * dimension
							lowerCamelCase_	:							int									=1
							return Vector(lowerCamelCase__  )

def 			_snake_case    (					lowerCamelCase__     :   float    ,						lowerCamelCase__     :   Vector    ,						lowerCamelCase__     :   Vector  )    ->     Vector:
							assert (
							    isinstance(lowerCamelCase__    ,						lowerCamelCase__  )
							    and isinstance(lowerCamelCase__    ,						lowerCamelCase__  )
							    and (isinstance(lowerCamelCase__    ,						(int, float)  ))
							)
							return x * scalar + y

def 			_snake_case    (					lowerCamelCase__     :   int    ,						lowerCamelCase__     :   int    ,						lowerCamelCase__     :   int  )    ->     Vector:
							random.seed(lowerCamelCase__  )
							lowerCamelCase_	:							Union[str, Any]									=[random.randint(lowerCamelCase__    ,						lowerCamelCase__  ) for _ in range(lowerCamelCase__  )]
							return Vector(lowerCamelCase__  )







class        lowercase__      :


			def __init__(				self					:  str       ,	snake_case__					:  list[list[float]]       ,	snake_case__					:  int       ,	snake_case__					:  int ):
										lowerCamelCase_	:							List[str]									=matrix
										lowerCamelCase_	:							Tuple									=w
										lowerCamelCase_	:							Optional[int]									=h


			def __str__(				self					:  List[str] ):
										lowerCamelCase_	:							int									=""
										for i in range(self.__height ):
																	ans += "|"
																	for j in range(self.__width ):
																								if j < self.__width - 1:
																															ans += str(self.__matrix[i][j] ) + ","
																								else:
																															ans += str(self.__matrix[i][j] ) + "|\n"
										return ans


			def __add__(				self					:  Optional[Any]       ,	snake_case__					:  Matrix ):
										if self.__width == other.width() and self.__height == other.height():
																	lowerCamelCase_	:							Optional[Any]									=[]
																	for i in range(self.__height ):
																								lowerCamelCase_	:							Dict									=[
																								    self.__matrix[i][j] + other.component(snake_case__       ,	snake_case__ )
																								    for j in range(self.__width )
																								]
																								matrix.append(snake_case__ )
																	return Matrix(snake_case__       ,	self.__width       ,	self.__height )
										else:
																	raise Exception("matrix must have the same dimension!" )


			def __sub__(				self					:  Tuple       ,	snake_case__					:  Matrix ):
										if self.__width == other.width() and self.__height == other.height():
																	lowerCamelCase_	:							List[str]									=[]
																	for i in range(self.__height ):
																								lowerCamelCase_	:							Dict									=[
																								    self.__matrix[i][j] - other.component(snake_case__       ,	snake_case__ )
																								    for j in range(self.__width )
																								]
																								matrix.append(snake_case__ )
																	return Matrix(snake_case__       ,	self.__width       ,	self.__height )
										else:
																	raise Exception("matrices must have the same dimension!" )


			@overload
			def __mul__(				self					:  Optional[Any]       ,	snake_case__					:  float ):
										...


			@overload
			def __mul__(				self					:  Union[str, Any]       ,	snake_case__					:  Vector ):
										...


			def __mul__(				self					:  Dict       ,	snake_case__					:  float | Vector ):
										if isinstance(snake_case__       ,	snake_case__ ):  # matrix-vector
																	if len(snake_case__ ) == self.__width:
																								lowerCamelCase_	:							List[Any]									=zero_vector(self.__height )
																								for i in range(self.__height ):
																															lowerCamelCase_	:							Any									=[
																															    self.__matrix[i][j] * other.component(snake_case__ )
																															    for j in range(self.__width )
																															]
																															ans.change_component(snake_case__       ,	sum(snake_case__ ) )
																								return ans
																	else:
																								raise Exception(
																								    "vector must have the same size as the "
																								    "number of columns of the matrix!" )
										elif isinstance(snake_case__       ,	(int, float) ):  # matrix-scalar
																	lowerCamelCase_	:							Optional[int]									=[
																	    [self.__matrix[i][j] * other for j in range(self.__width )]
																	    for i in range(self.__height )
																	]
																	return Matrix(snake_case__       ,	self.__width       ,	self.__height )
										return None


			def      UpperCAmelCase__						(				self					:  List[Any] ):
										return self.__height


			def      UpperCAmelCase__						(				self					:  Any ):
										return self.__width


			def      UpperCAmelCase__						(				self					:  Union[str, Any]       ,	snake_case__					:  int       ,	snake_case__					:  int ):
										if 0 <= x < self.__height and 0 <= y < self.__width:
																	return self.__matrix[x][y]
										else:
																	raise Exception("change_component: indices out of bounds" )


			def      UpperCAmelCase__						(				self					:  Dict       ,	snake_case__					:  int       ,	snake_case__					:  int       ,	snake_case__					:  float ):
										if 0 <= x < self.__height and 0 <= y < self.__width:
																	lowerCamelCase_	:							Union[str, Any]									=value
										else:
																	raise Exception("change_component: indices out of bounds" )


			def      UpperCAmelCase__						(				self					:  Union[str, Any]       ,	snake_case__					:  int       ,	snake_case__					:  int ):
										if self.__height != self.__width:
																	raise Exception("Matrix is not square" )
										lowerCamelCase_	:							Optional[int]									=self.__matrix[:x] + self.__matrix[x + 1 :]
										for i in range(len(snake_case__ ) ):
																	lowerCamelCase_	:							List[Any]									=minor[i][:y] + minor[i][y + 1 :]
										return Matrix(snake_case__       ,	self.__width - 1       ,	self.__height - 1 ).determinant()


			def      UpperCAmelCase__						(				self					:  Union[str, Any]       ,	snake_case__					:  int       ,	snake_case__					:  int ):
										if self.__height != self.__width:
																	raise Exception("Matrix is not square" )
										if 0 <= x < self.__height and 0 <= y < self.__width:
																	return (-1) ** (x + y) * self.minor(snake_case__       ,	snake_case__ )
										else:
																	raise Exception("Indices out of bounds" )


			def      UpperCAmelCase__						(				self					:  Optional[int] ):
										if self.__height != self.__width:
																	raise Exception("Matrix is not square" )
										if self.__height < 1:
																	raise Exception("Matrix has no element" )
										elif self.__height == 1:
																	return self.__matrix[0][0]
										elif self.__height == 2:
																	return (
																	    self.__matrix[0][0] * self.__matrix[1][1]
																	    - self.__matrix[0][1] * self.__matrix[1][0]
																	)
										else:
																	lowerCamelCase_	:							Union[str, Any]									=[
																	    self.__matrix[0][y] * self.cofactor(0       ,	snake_case__ ) for y in range(self.__width )
																	]
																	return sum(snake_case__ )


def 			_snake_case    (					lowerCamelCase__     :   int  )    ->     Matrix:
							lowerCamelCase_	:							list[list[float]]									=[[0] * n for _ in range(lowerCamelCase__  )]
							return Matrix(lowerCamelCase__    ,						lowerCamelCase__    ,						lowerCamelCase__  )

def 			_snake_case    (					lowerCamelCase__     :   int    ,						lowerCamelCase__     :   int    ,						lowerCamelCase__     :   int    ,						lowerCamelCase__     :   int  )    ->     Matrix:
							random.seed(lowerCamelCase__  )
							lowerCamelCase_	:							list[list[float]]									=[
							    [random.randint(lowerCamelCase__    ,						lowerCamelCase__  ) for _ in range(lowerCamelCase__  )] for _ in range(lowerCamelCase__  )
							]
							return Matrix(lowerCamelCase__    ,						lowerCamelCase__    ,						lowerCamelCase__  )











"""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__	:    str			 = 'hopper-medium-v2'
						A__	:    Dict			 = gym.make(env_name)

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

						env.seed(0)
						A__	:    Dict			 = env.reset()
						A__	:    Optional[int]			 = 0
						A__	:    str			 = 0
						A__	:    List[Any]			 = 1_000
						A__	:    Tuple			 = [obs.copy()]
						try:
												for t in tqdm.tqdm(range(T)):
																		# call the policy
																		A__	:    Union[str, Any]			 = pipeline(obs, planning_horizon=32)

																		# execute action in environment
																		A__ ,						A__ ,						A__ ,						A__	:    Any			 = env.step(denorm_actions)
																		A__	:    List[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())

																		A__	:    Optional[Any]			 = next_observation
						except KeyboardInterrupt:
												pass

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



