






"""simple docstring"""



class        lowercase__      :


			def __init__(				self					:  List[Any]       ,	snake_case__					:  int       ,	snake_case__					:  Optional[int]=None       ,	snake_case__					:  Union[str, Any]=None ):
										lowerCamelCase_	:							Union[str, Any]									=data
										lowerCamelCase_	:							List[Any]									=previous
										lowerCamelCase_	:							List[str]									=next_node


			def __str__(				self					:  List[str] ):
										return F"""{self.data}"""


			def      UpperCAmelCase__						(				self					:  Union[str, Any] ):
										return self.data


			def      UpperCAmelCase__						(				self					:  str ):
										return self.next


			def      UpperCAmelCase__						(				self					:  int ):
										return self.previous







class        lowercase__      :


			def __init__(				self					:  str       ,	snake_case__					:  int ):
										lowerCamelCase_	:							int									=head


			def __iter__(				self					:  List[Any] ):
										return self


			def      UpperCAmelCase__						(				self					:  Any ):
										if not self.current:
																	raise StopIteration
										else:
																	lowerCamelCase_	:							Optional[Any]									=self.current.get_data()
																	lowerCamelCase_	:							List[str]									=self.current.get_next()
																	return value







class        lowercase__      :


			def __init__(				self					:  Any ):
										lowerCamelCase_	:							str									=None  # First node in list
										lowerCamelCase_	:							str									=None  # Last node in list


			def __str__(				self					:  List[Any] ):
										lowerCamelCase_	:							Tuple									=self.head
										lowerCamelCase_	:							Optional[Any]									=[]
										while current is not None:
																	nodes.append(current.get_data() )
																	lowerCamelCase_	:							Union[str, Any]									=current.get_next()
										return " ".join(str(snake_case__ ) for node in nodes )


			def __contains__(				self					:  Dict       ,	snake_case__					:  int ):
										lowerCamelCase_	:							Union[str, Any]									=self.head
										while current:
																	if current.get_data() == value:
																								return True
																	lowerCamelCase_	:							Any									=current.get_next()
										return False


			def __iter__(				self					:  Dict ):
										return LinkedListIterator(self.head )


			def      UpperCAmelCase__						(				self					:  List[str] ):
										if self.head:
																	return self.head.get_data()
										return None


			def      UpperCAmelCase__						(				self					:  int ):
										if self.tail:
																	return self.tail.get_data()
										return None


			def      UpperCAmelCase__						(				self					:  int       ,	snake_case__					:  Node ):
										if self.head is None:
																	lowerCamelCase_	:							Any									=node
																	lowerCamelCase_	:							List[Any]									=node
										else:
																	self.insert_before_node(self.head       ,	snake_case__ )


			def      UpperCAmelCase__						(				self					:  str       ,	snake_case__					:  Node ):
										if self.head is None:
																	self.set_head(snake_case__ )
										else:
																	self.insert_after_node(self.tail       ,	snake_case__ )


			def      UpperCAmelCase__						(				self					:  str       ,	snake_case__					:  int ):
										lowerCamelCase_	:							List[Any]									=Node(snake_case__ )
										if self.head is None:
																	self.set_head(snake_case__ )
										else:
																	self.set_tail(snake_case__ )


			def      UpperCAmelCase__						(				self					:  Optional[int]       ,	snake_case__					:  Node       ,	snake_case__					:  Node ):
										lowerCamelCase_	:							Dict									=node
										lowerCamelCase_	:							int									=node.previous

										if node.get_previous() is None:
																	lowerCamelCase_	:							Optional[int]									=node_to_insert
										else:
																	lowerCamelCase_	:							Optional[Any]									=node_to_insert

										lowerCamelCase_	:							List[str]									=node_to_insert


			def      UpperCAmelCase__						(				self					:  Tuple       ,	snake_case__					:  Node       ,	snake_case__					:  Node ):
										lowerCamelCase_	:							int									=node
										lowerCamelCase_	:							Optional[int]									=node.next

										if node.get_next() is None:
																	lowerCamelCase_	:							Any									=node_to_insert
										else:
																	lowerCamelCase_	:							str									=node_to_insert

										lowerCamelCase_	:							int									=node_to_insert


			def      UpperCAmelCase__						(				self					:  Tuple       ,	snake_case__					:  int       ,	snake_case__					:  int ):
										lowerCamelCase_	:							Optional[Any]									=1
										lowerCamelCase_	:							Optional[Any]									=Node(snake_case__ )
										lowerCamelCase_	:							Optional[Any]									=self.head
										while node:
																	if current_position == position:
																								self.insert_before_node(snake_case__       ,	snake_case__ )
																								return
																	current_position += 1
																	lowerCamelCase_	:							Optional[int]									=node.next
										self.insert_after_node(self.tail       ,	snake_case__ )


			def      UpperCAmelCase__						(				self					:  Any       ,	snake_case__					:  int ):
										lowerCamelCase_	:							Optional[Any]									=self.head
										while node:
																	if node.get_data() == item:
																								return node
																	lowerCamelCase_	:							Optional[Any]									=node.get_next()
										raise Exception("Node not found" )


			def      UpperCAmelCase__						(				self					:  Optional[int]       ,	snake_case__					:  Optional[int] ):
										if (node := self.get_node(snake_case__ )) is not None:
																	if node == self.head:
																								lowerCamelCase_	:							Optional[int]									=self.head.get_next()

																	if node == self.tail:
																								lowerCamelCase_	:							Dict									=self.tail.get_previous()

																	self.remove_node_pointers(snake_case__ )


			@staticmethod
			def      UpperCAmelCase__						(				snake_case__					:  Node ):
										if node.get_next():
																	lowerCamelCase_	:							List[str]									=node.previous

										if node.get_previous():
																	lowerCamelCase_	:							Any									=node.next

										lowerCamelCase_	:							Optional[Any]									=None
										lowerCamelCase_	:							Dict									=None


			def      UpperCAmelCase__						(				self					:  str ):
										return self.head is None


def 			_snake_case    (					)    ->     None:
							pass


if __name__ == "__main__":
						import doctest

						doctest.testmod()











"""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}')



