


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


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

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

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

                     # execute action in environment
                     lowercase_   ,lowercase_   ,lowercase_   ,lowercase_	   =     env.step(denorm_actions)
                     lowercase_	   =     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())

                     lowercase_	   =     next_observation
       except KeyboardInterrupt:
              pass

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





def 				UpperCamelCase__					(  SCREAMING_SNAKE_CASE__      ,	SCREAMING_SNAKE_CASE__						):
 __lowerCamelCase		:							Union[str, Any]		 =						len(SCREAMING_SNAKE_CASE__						)
 __lowerCamelCase		:							Any		 =						[[False] * (required_sum + 1) for _ in range(arr_len + 1						)]

 # for each arr value, a sum of zero(0) can be formed by not taking any element
 # hence True/1
 for i in range(arr_len + 1						):
  __lowerCamelCase		:							Dict		 =						True

 # sum is not zero and set is empty then false
 for i in range(1      ,	required_sum + 1						):
  __lowerCamelCase		:							Union[str, Any]		 =						False

 for i in range(1      ,	arr_len + 1						):
  for j in range(1      ,	required_sum + 1						):
   if arr[i - 1] > j:
    __lowerCamelCase		:							Tuple		 =						subset[i - 1][j]
   if arr[i - 1] <= j:
    __lowerCamelCase		:							List[Any]		 =						subset[i - 1][j] or subset[i - 1][j - arr[i - 1]]

 return subset[arr_len][required_sum]


if __name__ == "__main__":
       import doctest

       doctest.testmod()

