




import gym
import numpy as np
import torch
from mujoco_py import GlfwContext

from transformers import DecisionTransformerModel


GlfwContext(offscreen=True)  # Create a window to init GLFW.







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase       )  ->Optional[Any]:






					"""simple docstring"""






					__magic_name__					:							Any		   =							states.reshape(1,	-1,	model.config.state_dim       )
					__magic_name__					:							Optional[Any]		   =							actions.reshape(1,	-1,	model.config.act_dim       )
					__magic_name__					:							List[Any]		   =							returns_to_go.reshape(1,	-1,	1       )
					__magic_name__					:							int		   =							timesteps.reshape(1,	-1       )

					if model.config.max_length is not None:
										__magic_name__					:							Any		   =							states[:, -model.config.max_length :]
										__magic_name__					:							Optional[int]		   =							actions[:, -model.config.max_length :]
										__magic_name__					:							Union[str, Any]		   =							returns_to_go[:, -model.config.max_length :]
										__magic_name__					:							str		   =							timesteps[:, -model.config.max_length :]

										# pad all tokens to sequence length
										__magic_name__					:							List[Any]		   =							torch.cat(
										    [torch.zeros(model.config.max_length - states.shape[1]       ), torch.ones(states.shape[1]       )]       )
										__magic_name__					:							Optional[Any]		   =							attention_mask.to(dtype=torch.long,	device=states.device       ).reshape(1,	-1       )
										__magic_name__					:							Optional[int]		   =							torch.cat(
										    [
										        torch.zeros(
										            (states.shape[0], model.config.max_length - states.shape[1], model.config.state_dim),	device=states.device,	),
										        states,
										    ],	dim=1,	).to(dtype=torch.floataa       )
										__magic_name__					:							Optional[int]		   =							torch.cat(
										    [
										        torch.zeros(
										            (actions.shape[0], model.config.max_length - actions.shape[1], model.config.act_dim),	device=actions.device,	),
										        actions,
										    ],	dim=1,	).to(dtype=torch.floataa       )
										__magic_name__					:							Union[str, Any]		   =							torch.cat(
										    [
										        torch.zeros(
										            (returns_to_go.shape[0], model.config.max_length - returns_to_go.shape[1], 1),	device=returns_to_go.device,	),
										        returns_to_go,
										    ],	dim=1,	).to(dtype=torch.floataa       )
										__magic_name__					:							Tuple		   =							torch.cat(
										    [
										        torch.zeros(
										            (timesteps.shape[0], model.config.max_length - timesteps.shape[1]),	device=timesteps.device       ),
										        timesteps,
										    ],	dim=1,	).to(dtype=torch.long       )
					else:
										__magic_name__					:							str		   =							None

					__magic_name__   , __magic_name__   , __magic_name__					:							Optional[Any]		   =							model(
					    states=UpperCAmelCase,	actions=UpperCAmelCase,	rewards=UpperCAmelCase,	returns_to_go=UpperCAmelCase,	timesteps=UpperCAmelCase,	attention_mask=UpperCAmelCase,	return_dict=UpperCAmelCase,	)

					return action_preds[0, -1]


# build the environment

lowercase_		=							gym.make('''Hopper-v3''')
lowercase_		=							env.observation_space.shape[0]
lowercase_		=							env.action_space.shape[0]
lowercase_		=							1000
lowercase_		=							'''cuda'''
lowercase_		=							1_0_0_0.0  # normalization for rewards/returns
lowercase_		=							3600 / scale  # evaluation conditioning targets, 3600 is reasonable from the paper LINK
lowercase_		=							np.array(
    [
        1.3_1_1_2_7_9,
        -0.0_8_4_6_9_5_2_1,
        -0.5_3_8_2_7_1_9,
        -0.0_7_2_0_1_5_7_6,
        0.0_4_9_3_2_3_6_6,
        2.1_0_6_6_8_5_6,
        -0.1_5_0_1_7_3_5_4,
        0.0_0_8_7_8_3_4_5,
        -0.2_8_4_8_1_8_6,
        -0.1_8_5_4_0_0_9_6,
        -0.2_8_4_6_1_2_8_6,
    ]
)
lowercase_		=							np.array(
    [
        0.1_7_7_9_0_7_5_1,
        0.0_5_4_4_4_6_2_1,
        0.2_1_2_9_7_1_3_9,
        0.1_4_5_3_0_4_1_9,
        0.6_1_2_4_4_4_4,
        0.8_5_1_7_4_4_6_5,
        1.4_5_1_5_2_5_2,
        0.6_7_5_1_6_9_6,
        1.5_3_6_2_3_9,
        1.6_1_6_0_7_4_6,
        5.6_0_7_2_5_3_6,
    ]
)
lowercase_		=							torch.from_numpy(state_mean).to(device=device)
lowercase_		=							torch.from_numpy(state_std).to(device=device)

# Create the decision transformer model
lowercase_		=							DecisionTransformerModel.from_pretrained('''edbeeching/decision-transformer-gym-hopper-medium''')
lowercase_		=							model.to(device)
model.eval()

for ep in range(10):
				lowercase_,    lowercase_		=							0, 0
				lowercase_		=							env.reset()
				lowercase_		=							torch.tensor(TARGET_RETURN, device=device, dtype=torch.floataa).reshape(1, 1)
				lowercase_		=							torch.from_numpy(state).reshape(1, state_dim).to(device=device, dtype=torch.floataa)
				lowercase_		=							torch.zeros((0, act_dim), device=device, dtype=torch.floataa)
				lowercase_		=							torch.zeros(0, device=device, dtype=torch.floataa)

				lowercase_		=							torch.tensor(0, device=device, dtype=torch.long).reshape(1, 1)
				for t in range(max_ep_len):
								env.render()
								# add padding
								lowercase_		=							torch.cat([actions, torch.zeros((1, act_dim), device=device)], dim=0)
								lowercase_		=							torch.cat([rewards, torch.zeros(1, device=device)])

								lowercase_		=							get_action(
								    model,
								    (states.to(dtype=torch.floataa) - state_mean) / state_std,
								    actions.to(dtype=torch.floataa),
								    rewards.to(dtype=torch.floataa),
								    target_return.to(dtype=torch.floataa),
								    timesteps.to(dtype=torch.long),
								)
								lowercase_		=							action
								lowercase_		=							action.detach().cpu().numpy()

								lowercase_,    lowercase_,    lowercase_,    lowercase_		=							env.step(action)

								lowercase_		=							torch.from_numpy(state).to(device=device).reshape(1, state_dim)
								lowercase_		=							torch.cat([states, cur_state], dim=0)
								lowercase_		=							reward

								lowercase_		=							target_return[0, -1] - (reward / scale)
								lowercase_		=							torch.cat([target_return, pred_return.reshape(1, 1)], dim=1)
								lowercase_		=							torch.cat([timesteps, torch.ones((1, 1), device=device, dtype=torch.long) * (t + 1)], dim=1)

								episode_return += reward
								episode_length += 1

								if done:
												break









from collections.abc import Callable
from math import log
from os import name, system
from random import gauss, seed
from typing import TypeVar







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase       )  ->list:






					"""simple docstring"""






					seed(1       )
					return [gauss(UpperCAmelCase,	UpperCAmelCase       ) for _ in range(UpperCAmelCase       )]







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase       )  ->list:






					"""simple docstring"""






					return [k for k in range(UpperCAmelCase       ) for _ in range(instance_count[k]       )]







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase       )  ->float:






					"""simple docstring"""






					return sum(UpperCAmelCase       ) / instance_count







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase       )  ->float:






					"""simple docstring"""






					return instance_count / total_count







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase       )  ->float:






					"""simple docstring"""






					__magic_name__					:							Any		   =							[]  # An empty list to store all squared differences
					# iterate over number of elements in items
					for i in range(len(UpperCAmelCase       )       ):
										# for loop iterates over number of elements in inner layer of items
										for j in range(len(items[i]       )       ):
															# appending squared differences to 'squared_diff' list
															squared_diff.append((items[i][j] - means[i]) ** 2       )

    # one divided by (the number of all instances - number of classes) multiplied by
    # sum of all squared differences
					__magic_name__					:							Optional[int]		   =							len(UpperCAmelCase       )  # Number of classes in dataset
					return 1 / (total_count - n_classes) * sum(UpperCAmelCase       )







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase       )  ->list:






					"""simple docstring"""






					__magic_name__					:							int		   =							[]
					# for loop iterates over number of elements in list
					for i in range(len(UpperCAmelCase       )       ):
										# for loop iterates over number of inner items of each element
										for j in range(len(x_items[i]       )       ):
															__magic_name__					:							Dict		   =							[]  # to store all discriminant values of each item as a list
															# for loop iterates over number of classes we have in our dataset
															for k in range(len(UpperCAmelCase       )       ):
																				# appending values of discriminants for each class to 'temp' list
																				temp.append(
																				    x_items[i][j] * (means[k] / variance)
																				    - (means[k] ** 2 / (2 * variance))
																				    + log(probabilities[k]       )       )
															# appending discriminant values of each item to 'results' list
															results.append(UpperCAmelCase       )

					return [result.index(max(UpperCAmelCase       )       ) for result in results]







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase       )  ->float:






					"""simple docstring"""






					__magic_name__					:							Optional[Any]		   =							sum(1 for i, j in zip(UpperCAmelCase,	UpperCAmelCase       ) if i == j       )
					# percentage of accuracy equals to number of correct predictions divided by number
					# of all data and multiplied by 100
					return (correct / len(UpperCAmelCase       )) * 100


lowercase_		=							TypeVar('''num''')







def  lowerCAmelCase  (	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase = lambda UpperCAmelCase       : True,	UpperCAmelCase = None,	)  ->num:






					"""simple docstring"""






					while True:
										try:
															__magic_name__					:							List[Any]		   =							input_type(input(UpperCAmelCase       ).strip() or default       )
															if condition(UpperCAmelCase       ):
																				return user_input
															else:
																				print(F'''{user_input}: {err_msg}'''       )
																				continue
										except ValueError:
															print(
															    F'''{user_input}: Incorrect input type, expected {input_type.__name__!r}'''       )







def  lowerCAmelCase  (	)  ->str:






					"""simple docstring"""






					while True:
										print(''' Linear Discriminant Analysis '''.center(50,	'''*'''       )       )
										print('''*''' * 50,	'''\n'''       )
										print('''First of all we should specify the number of classes that'''       )
										print('''we want to generate as training dataset'''       )
										# Trying to get number of classes
										__magic_name__					:							List[Any]		   =							valid_input(
										    input_type=UpperCAmelCase,	condition=lambda UpperCAmelCase       : x > 0,	input_msg='''Enter the number of classes (Data Groupings): ''',	err_msg='''Number of classes should be positive!''',	)

										print('''-''' * 100       )

										# Trying to get the value of standard deviation
										__magic_name__					:							Any		   =							valid_input(
										    input_type=UpperCAmelCase,	condition=lambda UpperCAmelCase       : x >= 0,	input_msg=(
										        '''Enter the value of standard deviation'''
										        '''(Default value is 1.0 for all classes): '''
										    ),	err_msg='''Standard deviation should not be negative!''',	default='''1.0''',	)

										print('''-''' * 100       )

										# Trying to get number of instances in classes and theirs means to generate
										# dataset
										__magic_name__					:							Optional[Any]		   =							[]  # An empty list to store instance counts of classes in dataset
										for i in range(UpperCAmelCase       ):
															__magic_name__					:							Dict		   =							valid_input(
															    input_type=UpperCAmelCase,	condition=lambda UpperCAmelCase       : x > 0,	input_msg=(F'''Enter The number of instances for class_{i+1}: '''),	err_msg='''Number of instances should be positive!''',	)
															counts.append(UpperCAmelCase       )
										print('''-''' * 100       )

										# An empty list to store values of user-entered means of classes
										__magic_name__					:							Dict		   =							[]
										for a in range(UpperCAmelCase       ):
															__magic_name__					:							Dict		   =							valid_input(
															    input_type=UpperCAmelCase,	input_msg=(F'''Enter the value of mean for class_{a+1}: '''),	err_msg='''This is an invalid value.''',	)
															user_means.append(UpperCAmelCase       )
										print('''-''' * 100       )

										print('''Standard deviation: ''',	UpperCAmelCase       )
										# print out the number of instances in classes in separated line
										for i, count in enumerate(UpperCAmelCase,	1       ):
															print(F'''Number of instances in class_{i} is: {count}'''       )
										print('''-''' * 100       )

										# print out mean values of classes separated line
										for i, user_mean in enumerate(UpperCAmelCase,	1       ):
															print(F'''Mean of class_{i} is: {user_mean}'''       )
										print('''-''' * 100       )

										# Generating training dataset drawn from gaussian distribution
										__magic_name__					:							Optional[int]		   =							[
										    gaussian_distribution(user_means[j],	UpperCAmelCase,	counts[j]       )
										    for j in range(UpperCAmelCase       )
										]
										print('''Generated Normal Distribution: \n''',	UpperCAmelCase       )
										print('''-''' * 100       )

										# Generating Ys to detecting corresponding classes
										__magic_name__					:							List[str]		   =							y_generator(UpperCAmelCase,	UpperCAmelCase       )
										print('''Generated Corresponding Ys: \n''',	UpperCAmelCase       )
										print('''-''' * 100       )

										# Calculating the value of actual mean for each class
										__magic_name__					:							Dict		   =							[calculate_mean(counts[k],	x[k]       ) for k in range(UpperCAmelCase       )]
										# for loop iterates over number of elements in 'actual_means' list and print
										# out them in separated line
										for i, actual_mean in enumerate(UpperCAmelCase,	1       ):
															print(F'''Actual(Real) mean of class_{i} is: {actual_mean}'''       )
										print('''-''' * 100       )

										# Calculating the value of probabilities for each class
										__magic_name__					:							Union[str, Any]		   =							[
										    calculate_probabilities(counts[i],	sum(UpperCAmelCase       )       ) for i in range(UpperCAmelCase       )
										]

										# for loop iterates over number of elements in 'probabilities' list and print
										# out them in separated line
										for i, probability in enumerate(UpperCAmelCase,	1       ):
															print(F'''Probability of class_{i} is: {probability}'''       )
										print('''-''' * 100       )

										# Calculating the values of variance for each class
										__magic_name__					:							List[Any]		   =							calculate_variance(UpperCAmelCase,	UpperCAmelCase,	sum(UpperCAmelCase       )       )
										print('''Variance: ''',	UpperCAmelCase       )
										print('''-''' * 100       )

										# Predicting Y values
										# storing predicted Y values in 'pre_indexes' variable
										__magic_name__					:							List[Any]		   =							predict_y_values(UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase,	UpperCAmelCase       )
										print('''-''' * 100       )

										# Calculating Accuracy of the model
										print(F'''Accuracy: {accuracy(UpperCAmelCase,	UpperCAmelCase       )}'''       )
										print('''-''' * 100       )
										print(''' DONE '''.center(100,	'''+'''       )       )

										if input('''Press any key to restart or \'q\' for quit: '''       ).strip().lower() == "q":
															print('''\n''' + '''GoodBye!'''.center(100,	'''-'''       ) + '''\n'''       )
															break
										system('''cls''' if name == '''nt''' else '''clear'''       )  # noqa: S605


if __name__ == "__main__":
				main()



