


"""simple docstring"""


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


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

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

   env.seed(0)
   __snake_case    					=					env.reset()
   __snake_case    					=					0
   __snake_case    					=					0
   __snake_case    					=					1000
   __snake_case    					=					[obs.copy()]
   try:
      for t in tqdm.tqdm(range(T)):
         # call the policy
         __snake_case    					=					pipeline(obs, planning_horizon=32)

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

         __snake_case    					=					next_observation
   except KeyboardInterrupt:
      pass

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



"""simple docstring"""


from math import cos, sin, sqrt, tau

from audio_filters.iir_filter import IIRFilter


def    _lowerCamelCase   (     lowerCamelCase__	:							int       ,		lowerCamelCase__	:							int       ,		lowerCamelCase__	:							float = 1 / sqrt(2  )  ):
 lowercase__       :       str				=						tau * frequency / samplerate
 lowercase__       :       Union[str, Any]				=						sin(lowerCamelCase__  )
 lowercase__       :       int				=						cos(lowerCamelCase__  )
 lowercase__       :       Union[str, Any]				=						_sin / (2 * q_factor)

 lowercase__       :       str				=						(1 - _cos) / 2
 lowercase__       :       Optional[Any]				=						1 - _cos

 lowercase__       :       List[Any]				=						1 + alpha
 lowercase__       :       Dict				=						-2 * _cos
 lowercase__       :       List[str]				=						1 - alpha

 lowercase__       :       int				=						IIRFilter(2  )
 filt.set_coefficients([aa, aa, aa]       ,		[ba, ba, ba]  )
 return filt


def    _lowerCamelCase   (     lowerCamelCase__	:							int       ,		lowerCamelCase__	:							int       ,		lowerCamelCase__	:							float = 1 / sqrt(2  )  ):
 lowercase__       :       Optional[int]				=						tau * frequency / samplerate
 lowercase__       :       Any				=						sin(lowerCamelCase__  )
 lowercase__       :       Any				=						cos(lowerCamelCase__  )
 lowercase__       :       Tuple				=						_sin / (2 * q_factor)

 lowercase__       :       Tuple				=						(1 + _cos) / 2
 lowercase__       :       str				=						-1 - _cos

 lowercase__       :       Dict				=						1 + alpha
 lowercase__       :       Dict				=						-2 * _cos
 lowercase__       :       int				=						1 - alpha

 lowercase__       :       str				=						IIRFilter(2  )
 filt.set_coefficients([aa, aa, aa]       ,		[ba, ba, ba]  )
 return filt


def    _lowerCamelCase   (     lowerCamelCase__	:							int       ,		lowerCamelCase__	:							int       ,		lowerCamelCase__	:							float = 1 / sqrt(2  )  ):
 lowercase__       :       Optional[int]				=						tau * frequency / samplerate
 lowercase__       :       str				=						sin(lowerCamelCase__  )
 lowercase__       :       int				=						cos(lowerCamelCase__  )
 lowercase__       :       Dict				=						_sin / (2 * q_factor)

 lowercase__       :       Dict				=						_sin / 2
 lowercase__       :       Union[str, Any]				=						0
 lowercase__       :       int				=						-ba

 lowercase__       :       List[Any]				=						1 + alpha
 lowercase__       :       Tuple				=						-2 * _cos
 lowercase__       :       List[str]				=						1 - alpha

 lowercase__       :       Dict				=						IIRFilter(2  )
 filt.set_coefficients([aa, aa, aa]       ,		[ba, ba, ba]  )
 return filt


def    _lowerCamelCase   (     lowerCamelCase__	:							int       ,		lowerCamelCase__	:							int       ,		lowerCamelCase__	:							float = 1 / sqrt(2  )  ):
 lowercase__       :       str				=						tau * frequency / samplerate
 lowercase__       :       Dict				=						sin(lowerCamelCase__  )
 lowercase__       :       Union[str, Any]				=						cos(lowerCamelCase__  )
 lowercase__       :       Tuple				=						_sin / (2 * q_factor)

 lowercase__       :       List[Any]				=						1 - alpha
 lowercase__       :       Any				=						-2 * _cos
 lowercase__       :       Optional[Any]				=						1 + alpha

 lowercase__       :       List[Any]				=						IIRFilter(2  )
 filt.set_coefficients([ba, ba, ba]       ,		[ba, ba, ba]  )
 return filt


def    _lowerCamelCase   (     lowerCamelCase__	:							int       ,		lowerCamelCase__	:							int       ,		lowerCamelCase__	:							float       ,		lowerCamelCase__	:							float = 1 / sqrt(2  )       ,		):
 lowercase__       :       Tuple				=						tau * frequency / samplerate
 lowercase__       :       str				=						sin(lowerCamelCase__  )
 lowercase__       :       List[str]				=						cos(lowerCamelCase__  )
 lowercase__       :       Optional[int]				=						_sin / (2 * q_factor)
 lowercase__       :       Optional[Any]				=						10 ** (gain_db / 40)

 lowercase__       :       Optional[Any]				=						1 + alpha * big_a
 lowercase__       :       Dict				=						-2 * _cos
 lowercase__       :       Tuple				=						1 - alpha * big_a
 lowercase__       :       List[str]				=						1 + alpha / big_a
 lowercase__       :       List[Any]				=						-2 * _cos
 lowercase__       :       Optional[int]				=						1 - alpha / big_a

 lowercase__       :       Union[str, Any]				=						IIRFilter(2  )
 filt.set_coefficients([aa, aa, aa]       ,		[ba, ba, ba]  )
 return filt


def    _lowerCamelCase   (     lowerCamelCase__	:							int       ,		lowerCamelCase__	:							int       ,		lowerCamelCase__	:							float       ,		lowerCamelCase__	:							float = 1 / sqrt(2  )       ,		):
 lowercase__       :       Optional[int]				=						tau * frequency / samplerate
 lowercase__       :       Dict				=						sin(lowerCamelCase__  )
 lowercase__       :       Union[str, Any]				=						cos(lowerCamelCase__  )
 lowercase__       :       int				=						_sin / (2 * q_factor)
 lowercase__       :       Union[str, Any]				=						10 ** (gain_db / 40)
 lowercase__       :       Dict				=						(big_a + 1) - (big_a - 1) * _cos
 lowercase__       :       Union[str, Any]				=						(big_a + 1) + (big_a - 1) * _cos
 lowercase__       :       List[Any]				=						(big_a - 1) - (big_a + 1) * _cos
 lowercase__       :       Dict				=						(big_a - 1) + (big_a + 1) * _cos
 lowercase__       :       Optional[int]				=						2 * sqrt(lowerCamelCase__  ) * alpha

 lowercase__       :       str				=						big_a * (pmc + aaa)
 lowercase__       :       Optional[Any]				=						2 * big_a * mpc
 lowercase__       :       str				=						big_a * (pmc - aaa)
 lowercase__       :       Dict				=						ppmc + aaa
 lowercase__       :       List[Any]				=						-2 * pmpc
 lowercase__       :       List[Any]				=						ppmc - aaa

 lowercase__       :       Optional[int]				=						IIRFilter(2  )
 filt.set_coefficients([aa, aa, aa]       ,		[ba, ba, ba]  )
 return filt






def    _lowerCamelCase   (     lowerCamelCase__	:							int       ,		lowerCamelCase__	:							int       ,		lowerCamelCase__	:							float       ,		lowerCamelCase__	:							float = 1 / sqrt(2  )       ,		):
 lowercase__       :       int				=						tau * frequency / samplerate
 lowercase__       :       List[Any]				=						sin(lowerCamelCase__  )
 lowercase__       :       List[Any]				=						cos(lowerCamelCase__  )
 lowercase__       :       List[str]				=						_sin / (2 * q_factor)
 lowercase__       :       int				=						10 ** (gain_db / 40)
 lowercase__       :       str				=						(big_a + 1) - (big_a - 1) * _cos
 lowercase__       :       Optional[Any]				=						(big_a + 1) + (big_a - 1) * _cos
 lowercase__       :       Optional[int]				=						(big_a - 1) - (big_a + 1) * _cos
 lowercase__       :       int				=						(big_a - 1) + (big_a + 1) * _cos
 lowercase__       :       Optional[Any]				=						2 * sqrt(lowerCamelCase__  ) * alpha

 lowercase__       :       str				=						big_a * (ppmc + aaa)
 lowercase__       :       Union[str, Any]				=						-2 * big_a * pmpc
 lowercase__       :       List[Any]				=						big_a * (ppmc - aaa)
 lowercase__       :       str				=						pmc + aaa
 lowercase__       :       int				=						2 * mpc
 lowercase__       :       Any				=						pmc - aaa

 lowercase__       :       int				=						IIRFilter(2  )
 filt.set_coefficients([aa, aa, aa]       ,		[ba, ba, ba]  )
 return filt