





class        SCREAMING_SNAKE_CASE     :  # Public class to implement a graph


   def __init__(					self    :       int    ,  a    :       int    ,  a    :       int    ,  a    :       list[list[bool]] )->     None:





     """simple docstring"""







     lowercase__			    =						row
     lowercase__			    =						col
     lowercase__			    =						graph


   def  SCREAMING_SNAKE_CASE_							(					self    :       Dict    ,  a    :       int    ,  a    :       int    ,  a    :       list[list[bool]] )->     bool:





     """simple docstring"""







     return (
         0 <= i < self.ROW
         and 0 <= j < self.COL
         and not visited[i][j]
         and self.graph[i][j]
     )


   def  SCREAMING_SNAKE_CASE_							(					self    :       List[str]    ,  a    :       int    ,  a    :       int    ,  a    :       list[list[bool]] )->     None:





     """simple docstring"""







     lowercase__			    =						[-1, -1, -1, 0, 0, 1, 1, 1]  # Coordinate order
     lowercase__			    =						[-1, 0, 1, -1, 1, -1, 0, 1]
     lowercase__			    =						True  # Make those cells visited
     for k in range(8 ):
       if self.is_safe(i + row_nbr[k]    ,  j + col_nbr[k]    ,  a ):
         self.diffs(i + row_nbr[k]    ,  j + col_nbr[k]    ,  a )


   def  SCREAMING_SNAKE_CASE_							(					self    :       List[str] )->     int:  # And finally, count all islands.





     """simple docstring"""







     lowercase__			    =						[[False for j in range(self.COL )] for i in range(self.ROW )]
     lowercase__			    =						0
     for i in range(self.ROW ):
       for j in range(self.COL ):
         if visited[i][j] is False and self.graph[i][j] == 1:
           self.diffs(a    ,  a    ,  a )
           count += 1
     return count









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     (UpperCAmelCase   ):


   def __init__(					self    :       Optional[Any]    ,  a    :       UNetaDModel    ,  a    :       UNetaDModel    ,  a    :       DDPMScheduler    ,  a    :       Any    ,  )->     Dict:





     """simple docstring"""







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


   def  SCREAMING_SNAKE_CASE_							(					self    :       Optional[Any]    ,  a    :       Any    ,  a    :       int )->     Dict:





     """simple docstring"""







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


   def  SCREAMING_SNAKE_CASE_							(					self    :       Optional[int]    ,  a    :       str    ,  a    :       List[str] )->     str:





     """simple docstring"""







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


   def  SCREAMING_SNAKE_CASE_							(					self    :       List[str]    ,  a    :       Tuple )->     Tuple:





     """simple docstring"""







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


   def  SCREAMING_SNAKE_CASE_							(					self    :       Optional[Any]    ,  a    :       Optional[int]    ,  a    :       Dict    ,  a    :       Optional[Any] )->     List[Any]:





     """simple docstring"""







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


   def  SCREAMING_SNAKE_CASE_							(					self    :       Tuple    ,  a    :       Optional[Any]    ,  a    :       Any    ,  a    :       Optional[Any]    ,  a    :       Optional[int] )->     List[Any]:





     """simple docstring"""







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

           # permute to match dimension for pre-trained models
           lowercase__			    =						self.value_function(x.permute(0    ,  2    ,  1 )    ,  a ).sample
           lowercase__			    =						torch.autograd.grad([y.sum()]    ,  [x] )[0]

           lowercase__			    =						self.scheduler._get_variance(a )
           lowercase__			    =						torch.exp(0.5 * posterior_variance )
           lowercase__			    =						model_std * grad

         lowercase__			    =						0
         lowercase__			    =						x.detach()
         lowercase__			    =						x + scale * grad
         lowercase__			    =						self.reset_xa(a    ,  a    ,  self.action_dim )

       lowercase__			    =						self.unet(x.permute(0    ,  2    ,  1 )    ,  a ).sample.permute(0    ,  2    ,  1 )

       # TODO: verify deprecation of this kwarg
       lowercase__			    =						self.scheduler.step(a    ,  a    ,  a    ,  predict_epsilon=a )['prev_sample']

       # apply conditions to the trajectory (set the initial state)
       lowercase__			    =						self.reset_xa(a    ,  a    ,  self.action_dim )
       lowercase__			    =						self.to_torch(a )
     return x, y


   def __call__(					self    :       Any    ,  a    :       Tuple    ,  a    :       int=64    ,  a    :       Tuple=32    ,  a    :       List[Any]=2    ,  a    :       List[str]=0.1 )->     List[Any]:





     """simple docstring"""







     lowercase__			    =						self.normalize(a    ,  'observations' )
     lowercase__			    =						obs[None].repeat(a    ,  axis=0 )

     lowercase__			    =						{0: self.to_torch(a )}
     lowercase__			    =						(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)
     lowercase__			    =						randn_tensor(a    ,  device=self.unet.device )
     lowercase__			    =						self.reset_xa(a    ,  a    ,  self.action_dim )
     lowercase__			    =						self.to_torch(a )

     # run the diffusion process
     lowercase__    ,					lowercase__			    =						self.run_diffusion(a    ,  a    ,  a    ,  a )

     # sort output trajectories by value
     lowercase__			    =						y.argsort(0    ,  descending=a ).squeeze()
     lowercase__			    =						x[sorted_idx]
     lowercase__			    =						sorted_values[:, :, : self.action_dim]
     lowercase__			    =						actions.detach().cpu().numpy()
     lowercase__			    =						self.de_normalize(a    ,  key='actions' )

     # select the action with the highest value
     if y is not None:
       lowercase__			    =						0
     else:
       # if we didn't run value guiding, select a random action
       lowercase__			    =						np.random.randint(0    ,  a )

     lowercase__			    =						denorm_actions[selected_index, 0]
     return denorm_actions


