





"""simple docstring"""
from __future__ import annotations






class  _SCREAMING_SNAKE_CASE:




       def __init__(						self		,SCREAMING_SNAKE_CASE__							)      ->				None:





             """simple docstring"""






             __SCREAMING_SNAKE_CASE       :Union[str, Any]		    =  data
             __SCREAMING_SNAKE_CASE       :Node | None		    =  None
             __SCREAMING_SNAKE_CASE       :Node | None		    =  None




def 					__lowerCamelCase       (							a_					:		Node | None							)      ->				None:  # In Order traversal of the tree
      if tree:
            display(tree.left							)
            print(tree.data							)
            display(tree.right							)



def 					__lowerCamelCase       (							a_					:		Node | None							)      ->				int:
      return 1 + max(depth_of_tree(tree.left							)			,       depth_of_tree(tree.right							)							) if tree else 0



def 					__lowerCamelCase       (							a_					:		Node							)      ->				bool:
      if not tree:
            return True
      if tree.left and tree.right:
            return is_full_binary_tree(tree.left							) and is_full_binary_tree(tree.right							)
      else:
            return not tree.left and not tree.right



def 					__lowerCamelCase       (							)      ->				None:  # Main function for testing.
      __SCREAMING_SNAKE_CASE       :Optional[int]		    =  Node(1							)
      __SCREAMING_SNAKE_CASE       :int		    =  Node(2							)
      __SCREAMING_SNAKE_CASE       :Tuple		    =  Node(3							)
      __SCREAMING_SNAKE_CASE       :Union[str, Any]		    =  Node(4							)
      __SCREAMING_SNAKE_CASE       :List[str]		    =  Node(5							)
      __SCREAMING_SNAKE_CASE       :List[Any]		    =  Node(6							)
      __SCREAMING_SNAKE_CASE       :List[str]		    =  Node(7							)
      __SCREAMING_SNAKE_CASE       :Optional[int]		    =  Node(8							)
      __SCREAMING_SNAKE_CASE       :Tuple		    =  Node(9							)

      print(is_full_binary_tree(a_							)							)
      print(depth_of_tree(a_							)							)
      print('''Tree is: '''							)
      display(a_							)


if __name__ == "__main__":
    main()






"""simple docstring"""
import numpy as np
import torch
import tqdm

from ...models.unet_ad import UNetaDModel
from ...pipelines import DiffusionPipeline
from ...utils import randn_tensor
from ...utils.dummy_pt_objects import DDPMScheduler






class  _SCREAMING_SNAKE_CASE(       A  ):




       def __init__(						self		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,)      ->				Optional[int]:





             """simple docstring"""






             super().__init__()
             __SCREAMING_SNAKE_CASE       :Any		    =  value_function
             __SCREAMING_SNAKE_CASE       :List[str]		    =  unet
             __SCREAMING_SNAKE_CASE       :int		    =  scheduler
             __SCREAMING_SNAKE_CASE       :Optional[int]		    =  env
             __SCREAMING_SNAKE_CASE       :Optional[int]		    =  env.get_dataset()
             __SCREAMING_SNAKE_CASE       :str		    =  {}
             for key in self.data.keys():
                   try:
                         __SCREAMING_SNAKE_CASE       :Optional[Any]		    =  self.data[key].mean()
                   except:  # noqa: E722
                         pass
             __SCREAMING_SNAKE_CASE       :Dict		    =  {}
             for key in self.data.keys():
                   try:
                         __SCREAMING_SNAKE_CASE       :str		    =  self.data[key].std()
                   except:  # noqa: E722
                         pass
             __SCREAMING_SNAKE_CASE       :Optional[int]		    =  env.observation_space.shape[0]
             __SCREAMING_SNAKE_CASE       :int		    =  env.action_space.shape[0]




       def    _UpperCamelCase					(						self		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__							)      ->				str:





             """simple docstring"""






             return (x_in - self.means[key]) / self.stds[key]




       def    _UpperCamelCase					(						self		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__							)      ->				Dict:





             """simple docstring"""






             return x_in * self.stds[key] + self.means[key]




       def    _UpperCamelCase					(						self		,SCREAMING_SNAKE_CASE__							)      ->				Union[str, Any]:





             """simple docstring"""






             if type(SCREAMING_SNAKE_CASE__							) is dict:
                   return {k: self.to_torch(SCREAMING_SNAKE_CASE__							) for k, v in x_in.items()}
             elif torch.is_tensor(SCREAMING_SNAKE_CASE__							):
                   return x_in.to(self.unet.device							)
             return torch.tensor(SCREAMING_SNAKE_CASE__		,device=self.unet.device							)




       def    _UpperCamelCase					(						self		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__							)      ->				Union[str, Any]:





             """simple docstring"""






             for key, val in cond.items():
                   __SCREAMING_SNAKE_CASE       :Dict		    =  val.clone()
             return x_in




       def    _UpperCamelCase					(						self		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__							)      ->				int:





             """simple docstring"""






             __SCREAMING_SNAKE_CASE       :Union[str, Any]		    =  x.shape[0]
             __SCREAMING_SNAKE_CASE       :List[Any]		    =  None
             for i in tqdm.tqdm(self.scheduler.timesteps							):
                   # create batch of timesteps to pass into model
                   __SCREAMING_SNAKE_CASE       :Tuple		    =  torch.full((batch_size,)		,SCREAMING_SNAKE_CASE__		,device=self.unet.device		,dtype=torch.long							)
                   for _ in range(SCREAMING_SNAKE_CASE__							):
                         with torch.enable_grad():
                               x.requires_grad_()

                               # permute to match dimension for pre-trained models
                               __SCREAMING_SNAKE_CASE       :str		    =  self.value_function(x.permute(0		,2		,1							)		,SCREAMING_SNAKE_CASE__							).sample
                               __SCREAMING_SNAKE_CASE       :Union[str, Any]		    =  torch.autograd.grad([y.sum()]		,[x]							)[0]

                               __SCREAMING_SNAKE_CASE       :int		    =  self.scheduler._get_variance(SCREAMING_SNAKE_CASE__							)
                               __SCREAMING_SNAKE_CASE       :Optional[Any]		    =  torch.exp(0.5 * posterior_variance							)
                               __SCREAMING_SNAKE_CASE       :List[str]		    =  model_std * grad

                         __SCREAMING_SNAKE_CASE       :Dict		    =  0
                         __SCREAMING_SNAKE_CASE       :List[Any]		    =  x.detach()
                         __SCREAMING_SNAKE_CASE       :Union[str, Any]		    =  x + scale * grad
                         __SCREAMING_SNAKE_CASE       :Any		    =  self.reset_xa(SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,self.action_dim							)

                   __SCREAMING_SNAKE_CASE       :Optional[int]		    =  self.unet(x.permute(0		,2		,1							)		,SCREAMING_SNAKE_CASE__							).sample.permute(0		,2		,1							)

                   # TODO: verify deprecation of this kwarg
                   __SCREAMING_SNAKE_CASE       :Optional[int]		    =  self.scheduler.step(SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,predict_epsilon=SCREAMING_SNAKE_CASE__							)['''prev_sample''']

                   # apply conditions to the trajectory (set the initial state)
                   __SCREAMING_SNAKE_CASE       :List[str]		    =  self.reset_xa(SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,self.action_dim							)
                   __SCREAMING_SNAKE_CASE       :Dict		    =  self.to_torch(SCREAMING_SNAKE_CASE__							)
             return x, y




       def __call__(						self		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__=64		,SCREAMING_SNAKE_CASE__=32		,SCREAMING_SNAKE_CASE__=2		,SCREAMING_SNAKE_CASE__=0.1							)      ->				Union[str, Any]:





             """simple docstring"""






             __SCREAMING_SNAKE_CASE       :Tuple		    =  self.normalize(SCREAMING_SNAKE_CASE__		,'''observations'''							)
             __SCREAMING_SNAKE_CASE       :List[Any]		    =  obs[None].repeat(SCREAMING_SNAKE_CASE__		,axis=0							)

             __SCREAMING_SNAKE_CASE       :str		    =  {0: self.to_torch(SCREAMING_SNAKE_CASE__							)}
             __SCREAMING_SNAKE_CASE       :Optional[Any]		    =  (batch_size, planning_horizon, self.state_dim + self.action_dim)

             # generate initial noise and apply our conditions (to make the trajectories start at current state)
             __SCREAMING_SNAKE_CASE       :Optional[int]		    =  randn_tensor(SCREAMING_SNAKE_CASE__		,device=self.unet.device							)
             __SCREAMING_SNAKE_CASE       :Tuple		    =  self.reset_xa(SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,self.action_dim							)
             __SCREAMING_SNAKE_CASE       :Any		    =  self.to_torch(SCREAMING_SNAKE_CASE__							)

             # run the diffusion process
             __SCREAMING_SNAKE_CASE    ,__SCREAMING_SNAKE_CASE       :Tuple		    =  self.run_diffusion(SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__		,SCREAMING_SNAKE_CASE__							)

             # sort output trajectories by value
             __SCREAMING_SNAKE_CASE       :Any		    =  y.argsort(0		,descending=SCREAMING_SNAKE_CASE__							).squeeze()
             __SCREAMING_SNAKE_CASE       :Any		    =  x[sorted_idx]
             __SCREAMING_SNAKE_CASE       :str		    =  sorted_values[:, :, : self.action_dim]
             __SCREAMING_SNAKE_CASE       :Union[str, Any]		    =  actions.detach().cpu().numpy()
             __SCREAMING_SNAKE_CASE       :Optional[int]		    =  self.de_normalize(SCREAMING_SNAKE_CASE__		,key='''actions'''							)

             # select the action with the highest value
             if y is not None:
                   __SCREAMING_SNAKE_CASE       :Optional[int]		    =  0
             else:
                   # if we didn't run value guiding, select a random action
                   __SCREAMING_SNAKE_CASE       :Any		    =  np.random.randint(0		,SCREAMING_SNAKE_CASE__							)

             __SCREAMING_SNAKE_CASE       :int		    =  denorm_actions[selected_index, 0]
             return denorm_actions