






"""simple docstring"""



from typing import Any, Dict, List, Mapping

import numpy as np
import torch

from ...utils import is_cython_available, requires_backends


if is_cython_available():
						import pyximport

						pyximport.install(setup_args={"include_dirs": np.get_include()})
						from . import algos_graphormer  # noqa E402




def     lowerCamelCase_					(	__A	:		List[str]      ,						__A	:		int = 512      ):
					lowerCamelCase__					=x.shape[1] if len(x.shape      ) > 1 else 1
					lowerCamelCase__					=1 + np.arange(0      ,						feature_num * offset      ,						__A      ,						dtype=np.intaa      )
					lowerCamelCase__					=x + feature_offset
					return x




def     lowerCamelCase_					(	__A	:		str      ,						__A	:		Optional[Any]=True      ):
					requires_backends(__A      ,						['cython']      )

					if keep_features and "edge_attr" in item.keys():  # edge_attr
										lowerCamelCase__					=np.asarray(item['edge_attr']      ,						dtype=np.intaa      )
					else:
										lowerCamelCase__					=np.ones((len(item['edge_index'][0]      ), 1)      ,						dtype=np.intaa      )  # same embedding for all

					if keep_features and "node_feat" in item.keys():  # input_nodes
										lowerCamelCase__					=np.asarray(item['node_feat']      ,						dtype=np.intaa      )
					else:
										lowerCamelCase__					=np.ones((item['num_nodes'], 1)      ,						dtype=np.intaa      )  # same embedding for all

					lowerCamelCase__					=np.asarray(item['edge_index']      ,						dtype=np.intaa      )

					lowerCamelCase__					=convert_to_single_emb(__A      ) + 1
					lowerCamelCase__					=item['num_nodes']

					if len(edge_attr.shape      ) == 1:
										lowerCamelCase__					=edge_attr[:, None]
					lowerCamelCase__					=np.zeros([num_nodes, num_nodes, edge_attr.shape[-1]]      ,						dtype=np.intaa      )
					lowerCamelCase__					=convert_to_single_emb(__A      ) + 1

					# node adj matrix [num_nodes, num_nodes] bool
					lowerCamelCase__					=np.zeros([num_nodes, num_nodes]      ,						dtype=__A      )
					lowerCamelCase__					=True

					lowerCamelCase__					,  lowerCamelCase__					=algos_graphormer.floyd_warshall(__A      )
					lowerCamelCase__					=np.amax(__A      )

					lowerCamelCase__					=algos_graphormer.gen_edge_input(__A      ,						__A      ,						__A      )
					lowerCamelCase__					=np.zeros([num_nodes + 1, num_nodes + 1]      ,						dtype=np.single      )  # with graph token

					# combine
					lowerCamelCase__					=input_nodes + 1  # we shift all indices by one for padding
					lowerCamelCase__					=attn_bias
					lowerCamelCase__					=attn_edge_type
					lowerCamelCase__					=shortest_path_result.astype(np.intaa      ) + 1  # we shift all indices by one for padding
					lowerCamelCase__					=np.sum(__A      ,						axis=1      ).reshape(-1      ) + 1  # we shift all indices by one for padding
					lowerCamelCase__					=item['in_degree']  # for undirected graph
					lowerCamelCase__					=input_edges + 1  # we shift all indices by one for padding
					if "labels" not in item:
										lowerCamelCase__					=item['y']

					return item




class 							__lowercase:






						def __init__(       self     ,    _SCREAMING_SNAKE_CASE=20     ,    _SCREAMING_SNAKE_CASE=False)      ->	Any:




											"""simple docstring"""





											if not is_cython_available():
																raise ImportError('Graphormer preprocessing needs Cython (pyximport)')

											lowerCamelCase__					=spatial_pos_max
											lowerCamelCase__					=on_the_fly_processing






						def __call__(       self     ,    _SCREAMING_SNAKE_CASE)      ->	Dict[str, Any]:




											"""simple docstring"""





											if self.on_the_fly_processing:
																lowerCamelCase__					=[preprocess_item(_SCREAMING_SNAKE_CASE) for i in features]

											if not isinstance(features[0]     ,    _SCREAMING_SNAKE_CASE):
																lowerCamelCase__					=[vars(_SCREAMING_SNAKE_CASE) for f in features]
											lowerCamelCase__					={}

											lowerCamelCase__					=max(len(i['input_nodes']) for i in features)
											lowerCamelCase__					=len(features[0]['input_nodes'][0])
											lowerCamelCase__					=len(features[0]['attn_edge_type'][0][0])
											lowerCamelCase__					=max(len(i['input_edges'][0][0]) for i in features)
											lowerCamelCase__					=len(features[0]['input_edges'][0][0][0])
											lowerCamelCase__					=len(_SCREAMING_SNAKE_CASE)

											lowerCamelCase__					=torch.zeros(_SCREAMING_SNAKE_CASE     ,    max_node_num + 1     ,    max_node_num + 1     ,    dtype=torch.float)
											lowerCamelCase__					=torch.zeros(_SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    dtype=torch.long)
											lowerCamelCase__					=torch.zeros(_SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    dtype=torch.long)
											lowerCamelCase__					=torch.zeros(_SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    dtype=torch.long)
											lowerCamelCase__					=torch.zeros(_SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    dtype=torch.long)
											lowerCamelCase__					=torch.zeros(
											    _SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    _SCREAMING_SNAKE_CASE     ,    dtype=torch.long)

											for ix, f in enumerate(_SCREAMING_SNAKE_CASE):
																for k in ["attn_bias", "attn_edge_type", "spatial_pos", "in_degree", "input_nodes", "input_edges"]:
																					lowerCamelCase__					=torch.tensor(f[k])

																if len(f['attn_bias'][1:, 1:][f['spatial_pos'] >= self.spatial_pos_max]) > 0:
																					lowerCamelCase__					=float('-inf')

																lowerCamelCase__					=f['attn_bias']
																lowerCamelCase__					=f[
																    'attn_edge_type'
																]
																lowerCamelCase__					=f['spatial_pos']
																lowerCamelCase__					=f['in_degree']
																lowerCamelCase__					=f['input_nodes']
																lowerCamelCase__					=f['input_edges']

											lowerCamelCase__					=batch['in_degree']

											lowerCamelCase__					=features[0]['labels']
											if len(_SCREAMING_SNAKE_CASE) == 1:  # one task
																if isinstance(sample[0]     ,    _SCREAMING_SNAKE_CASE):  # regression
																					lowerCamelCase__					=torch.from_numpy(np.concatenate([i['labels'] for i in features]))
																else:  # binary classification
																					lowerCamelCase__					=torch.from_numpy(np.concatenate([i['labels'] for i in features]))
											else:  # multi task classification, left to float to keep the NaNs
																lowerCamelCase__					=torch.from_numpy(np.stack([i['labels'] for i in features]     ,    axis=0))

											return batch







"""simple docstring"""



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_					(	__A	:		Tuple      ,						__A	:		Optional[int]      ,						__A	:		str      ,						__A	:		Optional[Any]      ,						__A	:		Optional[int]      ,						__A	:		Union[str, Any]      ):
					# we don't care about the past rewards in this model

					lowerCamelCase__					=states.reshape(1      ,						-1      ,						model.config.state_dim      )
					lowerCamelCase__					=actions.reshape(1      ,						-1      ,						model.config.act_dim      )
					lowerCamelCase__					=returns_to_go.reshape(1      ,						-1      ,						1      )
					lowerCamelCase__					=timesteps.reshape(1      ,						-1      )

					if model.config.max_length is not None:
										lowerCamelCase__					=states[:, -model.config.max_length :]
										lowerCamelCase__					=actions[:, -model.config.max_length :]
										lowerCamelCase__					=returns_to_go[:, -model.config.max_length :]
										lowerCamelCase__					=timesteps[:, -model.config.max_length :]

										# pad all tokens to sequence length
										lowerCamelCase__					=torch.cat(
										    [torch.zeros(model.config.max_length - states.shape[1]      ), torch.ones(states.shape[1]      )]      )
										lowerCamelCase__					=attention_mask.to(dtype=torch.long      ,						device=states.device      ).reshape(1      ,						-1      )
										lowerCamelCase__					=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      )
										lowerCamelCase__					=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      )
										lowerCamelCase__					=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      )
										lowerCamelCase__					=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:
										lowerCamelCase__					=None

					lowerCamelCase__					,  lowerCamelCase__					,  lowerCamelCase__					=model(
					    states=__A      ,						actions=__A      ,						rewards=__A      ,						returns_to_go=__A      ,						timesteps=__A      ,						attention_mask=__A      ,						return_dict=__A      ,						)

					return action_preds[0, -1]


# build the environment

_snake_case							:   List[str]	  =       gym.make("Hopper-v3")
_snake_case							:   Optional[int]	  =       env.observation_space.shape[0]
_snake_case							:   Tuple	  =       env.action_space.shape[0]
_snake_case							:   Union[str, Any]	  =       1_000
_snake_case							:   Dict	  =       "cuda"
_snake_case							:   Dict	  =       1000.0  # normalization for rewards/returns
_snake_case							:   Optional[int]	  =       3_600 / scale  # evaluation conditioning targets, 3600 is reasonable from the paper LINK
_snake_case							:   Optional[Any]	  =       np.array(
    [
        1.31_1279,
        -0.0846_9521,
        -0.538_2719,
        -0.0720_1576,
        0.0493_2366,
        2.106_6856,
        -0.1501_7354,
        0.0087_8345,
        -0.284_8186,
        -0.1854_0096,
        -0.2846_1286,
    ]
)
_snake_case							:   Tuple	  =       np.array(
    [
        0.1779_0751,
        0.0544_4621,
        0.2129_7139,
        0.1453_0419,
        0.612_4444,
        0.8517_4465,
        1.451_5252,
        0.675_1696,
        1.53_6239,
        1.616_0746,
        5.607_2536,
    ]
)
_snake_case							:   int	  =       torch.from_numpy(state_mean).to(device=device)
_snake_case							:   int	  =       torch.from_numpy(state_std).to(device=device)

# Create the decision transformer model
_snake_case							:   List[Any]	  =       DecisionTransformerModel.from_pretrained("edbeeching/decision-transformer-gym-hopper-medium")
_snake_case							:   List[str]	  =       model.to(device)
model.eval()

for ep in range(10):
						_snake_case  ,    _snake_case							:   List[str]	  =       0, 0
						_snake_case							:   Any	  =       env.reset()
						_snake_case							:   int	  =       torch.tensor(TARGET_RETURN, device=device, dtype=torch.floataa).reshape(1, 1)
						_snake_case							:   Optional[Any]	  =       torch.from_numpy(state).reshape(1, state_dim).to(device=device, dtype=torch.floataa)
						_snake_case							:   Tuple	  =       torch.zeros((0, act_dim), device=device, dtype=torch.floataa)
						_snake_case							:   Tuple	  =       torch.zeros(0, device=device, dtype=torch.floataa)

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

												_snake_case							:   List[str]	  =       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),
												)
												_snake_case							:   List[str]	  =       action
												_snake_case							:   Optional[int]	  =       action.detach().cpu().numpy()

												_snake_case  ,    _snake_case  ,    _snake_case  ,    _snake_case							:   List[str]	  =       env.step(action)

												_snake_case							:   Optional[int]	  =       torch.from_numpy(state).to(device=device).reshape(1, state_dim)
												_snake_case							:   Optional[int]	  =       torch.cat([states, cur_state], dim=0)
												_snake_case							:   Tuple	  =       reward

												_snake_case							:   List[str]	  =       target_return[0, -1] - (reward / scale)
												_snake_case							:   Optional[int]	  =       torch.cat([target_return, pred_return.reshape(1, 1)], dim=1)
												_snake_case							:   Any	  =       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