From aeb8acea5182635fda20487b9e93cb9bf401e86e Mon Sep 17 00:00:00 2001 From: Kyungwon Chun Date: Sun, 12 Nov 2023 22:13:34 +0900 Subject: [PATCH] Update CEM.ipynb * Use gymnasium==0.29.1 instead of gym * Reflect interface change of env.reset and env.step * Enable rendering in Jupyter Notebook --- cross-entropy/CEM.ipynb | 93 +++++++++++++++++++++++++---------------- 1 file changed, 57 insertions(+), 36 deletions(-) diff --git a/cross-entropy/CEM.ipynb b/cross-entropy/CEM.ipynb index be4cadcfa..afa0c2ac7 100644 --- a/cross-entropy/CEM.ipynb +++ b/cross-entropy/CEM.ipynb @@ -20,14 +20,15 @@ }, { "cell_type": "code", - "execution_count": 1, + "execution_count": 25, "metadata": {}, "outputs": [], "source": [ - "import gym\n", + "import gymnasium as gym\n", "import math\n", "import numpy as np\n", "from collections import deque\n", + "from IPython import display\n", "import matplotlib.pyplot as plt\n", "%matplotlib inline\n", "\n", @@ -46,17 +47,15 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 30, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "\u001b[33mWARN: gym.spaces.Box autodetected dtype as . Please provide explicit dtype.\u001b[0m\n", - "\u001b[33mWARN: gym.spaces.Box autodetected dtype as . Please provide explicit dtype.\u001b[0m\n", - "observation space: Box(2,)\n", - "action space: Box(1,)\n", + "observation space: Box([-1.2 -0.07], [0.6 0.07], (2,), float32)\n", + "action space: Box(-1.0, 1.0, (1,), float32)\n", " - low: [-1.]\n", " - high: [1.]\n" ] @@ -65,8 +64,8 @@ "source": [ "device = torch.device(\"cuda:0\" if torch.cuda.is_available() else \"cpu\")\n", "\n", - "env = gym.make('MountainCarContinuous-v0')\n", - "env.seed(101)\n", + "env = gym.make('MountainCarContinuous-v0', render_mode=\"rgb_array\")\n", + "env.reset(seed=101)\n", "np.random.seed(101)\n", "\n", "print('observation space:', env.observation_space)\n", @@ -113,11 +112,11 @@ " def evaluate(self, weights, gamma=1.0, max_t=5000):\n", " self.set_weights(weights)\n", " episode_return = 0.0\n", - " state = self.env.reset()\n", + " state, _ = self.env.reset()\n", " for t in range(max_t):\n", " state = torch.from_numpy(state).float().to(device)\n", " action = self.forward(state)\n", - " state, reward, done, _ = self.env.step(action)\n", + " state, reward, done, _, _ = self.env.step(action)\n", " episode_return += reward * math.pow(gamma, t)\n", " if done:\n", " break\n", @@ -137,36 +136,37 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 16, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "Episode 10\tAverage Score: -1.44\n", - "Episode 20\tAverage Score: -3.98\n", - "Episode 30\tAverage Score: -4.18\n", - "Episode 40\tAverage Score: 2.57\n", - "Episode 50\tAverage Score: 18.74\n", - "Episode 60\tAverage Score: 29.35\n", - "Episode 70\tAverage Score: 38.69\n", - "Episode 80\tAverage Score: 45.65\n", - "Episode 90\tAverage Score: 47.98\n", - "Episode 100\tAverage Score: 52.56\n", - "Episode 110\tAverage Score: 62.09\n", - "Episode 120\tAverage Score: 72.28\n", - "Episode 130\tAverage Score: 82.21\n", - "Episode 140\tAverage Score: 89.48\n", + "Episode 10\tAverage Score: -28.94\n", + "Episode 20\tAverage Score: -23.02\n", + "Episode 30\tAverage Score: -20.44\n", + "Episode 40\tAverage Score: -16.29\n", + "Episode 50\tAverage Score: -13.48\n", + "Episode 60\tAverage Score: -7.36\n", + "Episode 70\tAverage Score: 6.63\n", + "Episode 80\tAverage Score: 17.75\n", + "Episode 90\tAverage Score: 26.33\n", + "Episode 100\tAverage Score: 33.26\n", + "Episode 110\tAverage Score: 45.67\n", + "Episode 120\tAverage Score: 56.81\n", + "Episode 130\tAverage Score: 67.87\n", + "Episode 140\tAverage Score: 77.82\n", + "Episode 150\tAverage Score: 87.64\n", "\n", - "Environment solved in 47 iterations!\tAverage Score: 90.83\n" + "Environment solved in 53 iterations!\tAverage Score: 90.51\n" ] }, { "data": { - "image/png": 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\n", 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", 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" + "
" ] }, "metadata": {}, @@ -237,32 +237,53 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 36, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "image/png": 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bhg4dik6dOsHDw6NaE7PZKhYUIiIiK3F77pEDBw7gX//6FwIDA/HSSy+hTZs2sLe3t+q7D9c0FhQiIiIrkJOTgx9++AH79u1DZWUlVqxYgfbt2zeoUvJ7LChEREQSys7OxrfffouLFy+isrISU6ZMQZcuXWpsRlZbxYJCREQkAYPBgG+++Qa7du1CUFAQIiIi0KVLF6hUKqmjWQUWFCIiojokhEBpaSmWLl2K4uJiTJo0CaGhoWjUqJFNXCpcV1hQiIiI6kBlZSV0Oh0OHTqE999/Hy+88AIGDx5suQEfVcWCQkREVMuMRiPi4+Px5ZdfolWrVjhw4ADn8fofWFCIiIhq0bVr17BlyxZUVFTgiSeeQFhYGMeZ3AcWFCIiologhMCBAwfwzTffoF+/fujVqxc8PT2ljmUzWFCIiIhqkBACWVlZePXVV+Hi4oLY2Fj4+/s3+MuGq4sFhYiIqIYYjUb8/PPPeOedd9CpUyfExsZCoVBwEOwDYEEhIiKqAfn5+UhMTERCQgKeeuopdO/eXepINo0FhYiI6CFlZGRg9+7daNSoEf7xj3+gWbNmUkeyeSwoRERED8hsNiM+Ph6bN2/G+PHj0atXLzg6Okodq15gQSEiInoARqMRGzZsQHJyMt566y00adKEA2FrEAsKERFRNZjNZuTl5eHf//43VCoVVq9eDQAcCFvDWFCIiIjuU3l5Ob777jskJiaic+fOGDp0KItJLWFBISIiug9msxm7d+/GgQMH8Ne//hVdunSBnR2/RmuLvLpPOHr0KIYOHQpvb2/IZDLs2rWrynohBF555RV4eXnB0dERERERuHjxYpVtCgsLMWHCBKjVari6umL69OkoKSl5qA9CRERUmz766CP8/PPPWLx4Mbp168ZyUsuqXVBKS0vRqVMnrFy58o7r3377bXzwwQdYs2YNkpOT0ahRI0RGRqK8vNyyzYQJE5CWloa4uDjs27cPR48excyZMx/8UxAREdUCIQTKysrw8ssvQ6VSYe7cuWjdurXUsRoEmRBCPPCTZTLs3LkTI0aMAPDbf0hvb288//zz+Nvf/gYA0Ol08PT0xLp16zB27Fj8+OOPCAoKwqlTp9C1a1cAwIEDBzBkyBD88ssv8Pb2/p/vq9fr4eLiAp1Ox7tBEhFRrTCZTPjpp5+wceNGdOzYESNHjoRSqZQ6lk2rzvd3tY+g3MuVK1eQm5uLiIgIy2MuLi7o0aMHkpKSAABJSUlwdXW1lBMAiIiIgFwuR3Jy8h1ft6KiAnq9vspCRERUW4QQSElJwfLly9G3b1+MHj2a5aSO1WhByc3NBYA/3a3R09PTsi43NxceHh5V1tvZ2cHNzc2yzR8tW7YMLi4ulsXX17cmYxMREVVx5MgR7Nu3D5MnT0ZkZCTnN5FAjRaU2rJo0SLodDrLkpWVJXUkIiKqh4QQ2LlzJ44cOYIZM2YgLCxM6kgNVo0OQdZoNACAvLw8eHl5WR7Py8tD586dLdvk5+dXeV5lZSUKCwstz/8jlUoFlUpVk1GJiIiqMBqN2Lt3LzIyMjB79mzeT0diNXoExd/fHxqNBvHx8ZbH9Ho9kpOTodVqAQBarRZFRUU4ffq0ZZuEhASYzWb06NGjJuMQERH9T0IIGAwGbNu2DZcuXcJTTz0Fd3d3TsAmsWofQSkpKcGlS5csP1+5cgWpqalwc3ODn58f5s6di9deew0BAQHw9/fHyy+/DG9vb8uVPu3bt8egQYMwY8YMrFmzBkajEbNnz8bYsWPv6woeIiKimrZq1Sro9Xo8++yzcHV1lToO4QEKSkpKCgYMGGD5ed68eQCAKVOmYN26dViwYAFKS0sxc+ZMFBUVoU+fPjhw4AAcHBwsz9m4cSNmz56N8PBwyOVyxMTE4IMPPqiBj0NERHT/Kioq8PLLL6NLly546qmn4OzsLHUk+q+HmgdFKpwHhYiIHoYQArdu3cLrr7+Ofv36ISIigjPD1oHqfH/zvwYRETUoQgjcvHkTa9euRbdu3TBw4EDI5TZxUWuDwoJCREQNSn5+Pj777DP4+Phg5MiRUsehu2BlJCKiBiM/Px9r1qyBRqPBpEmTpI5D98AjKERE1CDk5eVh1apV6N+/f5WLPcg6saAQEVG9JoTAjRs38K9//Qvh4eHo06cP5zixASwoRERUb90uJ5s2bULnzp3Rt29flhMbwYJCRET11tWrV7F582a0atUK0dHRUsehauAgWSIiqpcKCwuxYsUKNG/eHGPGjJE6DlUTj6AQEVG9U1xcjH/+858YNmwYHn30Uanj0ANgQSEionpDCIHy8nKsXLkSffr0QVhYGMec2CgWFCIiqjcMBgM2btyIZs2aYfDgwSwnNoxjUIiIqF4wm81Yv349ioqKMG3aNJYTG8cjKEREVC+8++67kMlkeOaZZ3hvnXqABYWIiGze6tWr0bhxY0yaNAkqlUrqOFQDWFCIiMhmmUwm7NmzByaTCePHj4ejo6PUkaiG8BgYERHZJJPJhO+++w6XL1/GqFGj4OLiwnEn9QgLChER2RwhBFJSUnDs2DEMGzYM3t7eUkeiGsaCQkRENmffvn1YsWIFRo4cibZt20odh2oBx6AQEZHNEELg2rVr2LZtGxYvXoz27dtLHYlqCY+gEBGRTRBCoKCgAB988AEWLFiAoKAgqSNRLeIRFCIisgnFxcVYv349wsPDERwcLHUcqmU8gkJERFbPYDBg06ZN8PDwQEREhNRxqA7wCAoREVm9NWvWQC6XIyYmhhOxNRAsKEREZLWEEHj99deRnp6ONWvWwNnZWepIVEdYUIiIyCqZTCYcPXoUZWVlWL16NctJA8MxKEREZHXMZjPS0tJw9OhRzJgxA40bN5Y6EtUxFhQiIrI6+fn52L59OwYPHoyWLVtKHYckwIJCRERWxWAwYMWKFejVqxdCQ0OljkMSYUEhIiKrYTKZsHTpUnTu3BmPPvooFAqF1JFIIiwoRERkFSoqKvDiiy8iJycHTzzxBOzt7aWORBKqdkE5evQohg4dCm9vb8hkMuzatavK+ieffBIymazKMmjQoCrbFBYWYsKECVCr1XB1dcX06dNRUlLyUB+EiIhsl9FoxKFDh+Dm5oYPP/wQcjn//7mhq/ZvQGlpKTp16oSVK1fedZtBgwYhJyfHsvznP/+psn7ChAlIS0tDXFwc9u3bh6NHj2LmzJnVT09ERPXCuXPnkJKSggkTJqBRo0ZSxyErUO15UAYPHozBgwffcxuVSgWNRnPHdT/++CMOHDiAU6dOoWvXrgCADz/8EEOGDME///lPeHt7VzcSERHZsPz8fGzZsgVjx45F8+bNpY5DVqJWjqEdOXIEHh4eaNeuHWbNmoUbN25Y1iUlJcHV1dVSTgAgIiICcrkcycnJd3y9iooK6PX6KgsAbN68GWazuTY+AhER1YGKigosX74c4eHhCAkJgUwmkzoSWYkaLyiDBg3C559/jvj4eLz11ltITEzE4MGDYTKZAAC5ubnw8PCo8hw7Ozu4ubkhNzf3jq+5bNkyuLi4WBZfX18AwLVr13Ds2DHLaxMRke3Q6XR45513EBQUhMcee4xX7FAVNV5Qxo4di2HDhqFjx44YMWIE9u3bh1OnTuHIkSMP/JqLFi2CTqezLFlZWQCAESNG4PDhw/j5558hhKihT0BERLWtoqICn376KYqKijBlyhQeOaE/qfVh0q1atUKzZs1w6dIlAIBGo0F+fn6VbSorK1FYWHjXcSsqlQpqtbrKAgDt2rVD7969sWHDBl4FRERkQxISElBWVoYXX3yRV+zQHdX6b8Uvv/yCGzduwMvLCwCg1WpRVFSE06dPW7ZJSEiA2WxGjx49qv36/fv3R1BQEFasWMGjKERENiA9PR0nT57EE088ARcXF6njkJWqdkEpKSlBamoqUlNTAQBXrlxBamoqMjMzUVJSgvnz5+PEiRO4evUq4uPjMXz4cLRp0waRkZEAgPbt22PQoEGYMWMGTp48ie+++w6zZ8/G2LFjH+gKHnt7e8TExMBgMOC9996D0Wis9msQEVHtE0Lgxo0b2Lp1K8LCwtCmTRue2qG7qnZBSUlJQZcuXdClSxcAwLx589ClSxe88sorUCgU+OGHHzBs2DC0bdsW06dPR2hoKL799luoVCrLa2zcuBGBgYEIDw/HkCFD0KdPH3zyyScP/CHs7OywePFinD59Gtu2beOVPUREVqiiogLr16+Hn58f+vXrx1M7dE8yYYPnRfR6PVxcXKDT6SzjUYDfTietWrUKY8eORUhIiIQJiYjoj9asWYOioiK88MILUkchidzt+/tO6lV99fLyQlRUFL7++mvk5ORIHYeIiP5rw4YNSE1NxTPPPCN1FLIR9aqgKBQKdOvWDS1atMD27dtRUVEhdSQiogZNCIHvv/8eFy9exHPPPQcnJyepI5GNqFcFBQCUSiWeeOIJ5ObmYt++fRyPQkQkESEEcnNzcfDgQQwcOBBt27bloFi6b/WuoAC/HUl57bXX8J///AfHjx+XOg4RUYNkNBqxc+dOaDQa9O7dm+WEqqVeFpTb3njjDXz66af4/vvvpY5CRNSgCCGwZ88eFBQUYNy4cVLHIRtUrwtK69at8eSTT+Lrr7/GL7/8InUcIqIGIyEhAadPn0ZsbCwcHBykjkM2qF4XFIVCgd69e8Pf3x/79+9HWVmZ1JGIiOo1IQROnTqFlStX4q9//SuaNWsmdSSyUfW6oAC/zTQ7duxYXLhwASkpKZwOn4ioFhUWFmLdunV46aWX4OPjI3UcsmH1vqAAvx1JmT9/PrZs2YK0tDSp4xAR1Uu3bt3Crl270KtXL3To0IGDYumhNIiCAgDe3t6YMWMGPvvsM1y9elXqOERE9YrJZMK3336LmzdvIjIyssrtTYgeRIMpKAAQEhKC4cOHY+nSpSgoKJA6DhFRvXH16lVs374dY8aM4bgTqhENqqDIZDJotVr069cPGzdu5CRuREQ1oLKyEjNnzsRLL70EX19fqeNQPdGgCgrw26DZ6OhoGI1GJCYmwmQySR2JiMhm6XQ6LFiwAAsWLICfn5/UcageaXAFRSaTwd3dHZGRkUhMTMTVq1d5ZQ8R0QO4desWPvvsMzg4OKBv374cFEs1qsEVlNtCQkLQp08fvP/++zzVQ0RUTUIIpKSkoKioCM8++yxvAkg1rsEWFAAYMGAAQkJCsHz5cqmjEBHZlPz8fHz99dcYOXIkNBqN1HGoHmrQBUWhUGDSpEkoLy/H1q1bOR6FiOg+GAwGrF69Gj179kTHjh2ljkP1VIMuKACgVCrxl7/8BRs3bkR8fDzHoxAR3YPJZMKGDRugUqkwfPhwKBQKqSNRPdXgC4pMJoOXlxdefPFFHD9+HPn5+VJHIiKyWkeOHEFKSgoWLlzIQbFUqxp8QbmtU6dOaNu2Lfbs2cObChIR3cGxY8fwxRdfYN68eSwnVOtYUP7LwcEB0dHRyMrKwrFjx3iqh4jod3JycnDgwAHExMSgZcuWLChU6+ykDmBN1Go1XnzxRURGRqJTp07w8PCQOhIRkeSMRiMOHz4MDw8PDB48GHZ2/Oqg2scjKH/g4OCATz75BAsWLOB4FCJq8IQQOHPmDJKTkzF16lSWE6ozLCh3EBAQgKioKPzzn/9Edna21HGIiCRz+fJlbNy4EbNmzULjxo2ljkMNCAvKHcjlckRGRsLZ2RlxcXGcH4WIGiSdTod33nkH48ePR2BgoNRxqIFhQbkLtVqNqVOnIiMjA+np6Rw0S0QNihACK1asQHh4OLp16yZ1HGqAWFDuwcfHB1FRUdi4cSNu3rzJkkJEDYLJZMLnn3+OnJwc9O/fn1fskCRYUO5BJpOhd+/eCAgIwKefforKykqpIxER1SohBNLT05Geno5nnnkG7u7uLCgkCRaU+zB16lQUFhZi586dUkchIqpVZWVl2LZtG/r164fg4GCp41ADxoJyn55//nmkpqbi2LFjUkchIqoVQgisXbsW7u7uCA8PlzoONXDVKijLli1Dt27d0LhxY3h4eGDEiBHIyMiosk15eTliY2PRtGlTODs7IyYmBnl5eVW2yczMRFRUFJycnODh4YH58+db/emTZs2aYejQoXjnnXdw9uxZjkchonpFCIG4uDhcvnwZU6ZMgVKplDoSNXDVKiiJiYmIjY3FiRMnEBcXB6PRiIEDB6K0tNSyzXPPPYe9e/fiyy+/RGJiIrKzszFq1CjLepPJhKioKBgMBhw/fhzr16/HunXr8Morr9Tcp6oFMpkMPXv2xJgxY5CYmIjy8nKpIxER1Ziff/4Z//73v/H3v/8djRo1kjoOEWTiIQ4FFBQUwMPDA4mJiejXrx90Oh3c3d2xadMmjB49GgCQnp6O9u3bIykpCT179sT+/fsRHR2N7OxseHp6AgDWrFmDhQsXoqCg4L5au16vh4uLC3Q6HdRq9YPGfyB6vR4fffQRQkNDERERwVuNE5HNy8nJwVtvvYUxY8agR48ekMt59p9qR3W+vx/qt1Cn0wEA3NzcAACnT5+G0WhERESEZZvAwED4+fkhKSkJAJCUlISOHTtaygkAREZGQq/XIy0t7Y7vU1FRAb1eX2WRilqtxtixYxEXF/en01tERLamuLgYW7ZsgY+PD4KDg1lOyGo88G+i2WzG3Llz0bt3b3To0AEAkJubC6VSCVdX1yrbenp6Ijc317LN78vJ7fW3193JsmXL4OLiYll8fX0fNHaNaNWqFaZOnYrFixejoqJC0ixERA/KbDbj/PnzyM7OxpQpU+r8iDTRvTxwQYmNjcX58+exefPmmsxzR4sWLYJOp7MsWVlZtf6e/0tQUBCmTJmCV155BWazWeo4RETVVlJSgg8++AB/+ctf4O7uLnUcoioeqKDMnj0b+/btw+HDh+Hj42N5XKPRwGAwoKioqMr2eXl50Gg0lm3+eFXP7Z9vb/NHKpUKarW6yiI1mUyGgQMHQqPRYNOmTTySQkQ2pbS0FEuXLsXUqVPRqlUrqeMQ/Um1CooQArNnz8bOnTuRkJAAf3//KutDQ0Nhb2+P+Ph4y2MZGRnIzMyEVqsFAGi1Wpw7dw75+fmWbeLi4qBWqxEUFPQwn6XOOTo6Ijo6GkePHsXp06d56TER2QSj0Yh169ahVatWeOyxxzhTLFklu+psHBsbi02bNmH37t1o3LixZcyIi4sLHB0d4eLigunTp2PevHlwc3ODWq3GM888A61Wi549ewIABg4ciKCgIEyaNAlvv/02cnNzsXjxYsTGxkKlUtX8J6xlAQEBGDt2LBISEhAYGGgZMExEZK3i4+ORn5+PhQsXspyQ1arWEZTVq1dDp9MhLCwMXl5elmXLli2Wbd577z1ER0cjJiYG/fr1g0ajwY4dOyzrFQoF9u3bB4VCAa1Wi4kTJ2Ly5Mn4+9//XnOfqo717t0bGo0GW7duhclkkjoOEdFdpaamYu/evRg1ahQcHR2ljkN0Vw81D4pUpJwH5W4qKiowZ84cjBs3Dv3795c6DhFRFUIIFBYW4u2330ZISAjGjh3LeZyoztXZPCj0/1QqFT766CMsWbIE2dnZUschIqpCCIHjx4/D3t4e48ePZzkhq8eCUoMUCgXeeustrFq16q5zuhARSeH777/HwYMHMWfOHI47IZvAglKDZDIZOnfujHbt2uHzzz+3zLRLRCSla9euYe3atYiNjeV8J2QzWFBqmEqlQlRUFG7cuIEzZ85IHYeIGjiTyYQ33ngDEydORGBgoNRxiO4bC0otaNKkCaZMmYI9e/bg119/5fwoRCSJyspKrF+/Ht26dUOXLl14aodsCgtKLZDJZAgKCkJYWBg+/vhj3Lp1S+pIRNTAmEwmJCYmIi0tDeHh4XBwcJA6ElG1sKDUomHDhsHV1RWfffaZ1FGIqIEpLCzE1q1bER0d/adZv4lsAQtKLXv66aeRnZ2NgwcPSh2FiBoIs9mMtWvXQqvVIiwsTOo4RA+EBaWWOTo6Yvr06fj222+RkZHB8ShEVKuEENi2bRvKysowZswYjjshm8WCUstkMhlat26Nnj17Yv369bh586bUkYioHjt79iz27t2LhQsXcip7smksKHVAJpNhwIABcHR0REJCAiorK6WORET1UH5+Pj755BO8/PLLNnnzVaLfY0GpI40aNcLUqVNx5swZnDlzhqd6iKhGFRUVYevWrXj00UfRokULntohm8eCUod8fHwwadIkvPfee5xllohqjNFoxL59+5CTk4Pw8HAePaF6gQWljgUGBmLGjBlYsGABzGaz1HGIyMYJIXDz5k3s3bsXs2bNQpMmTaSORFQjWFAk0KdPHzzyyCNYt24djEaj1HGIyIaVlpZiyZIlmDNnDpo3by51HKIaw4IiAXt7e4wcORLZ2dlITk7mkRQieiDl5eVYs2YNunfvjl69enHcCdUrLCgS8fT0RFhYGLZv345ff/1V6jhEZIP27duH8vJyTJw4UeooRDWOBUVCoaGh6NSpE7Zt2waDwSB1HCKyIWfOnMGFCxcwceJE2NnZSR2HqMaxoEjI0dERY8eORUFBAQ4ePMhLj4nofxJCID8/H3FxcejTpw/8/Px4aofqJRYUiTk4OOC1117Dhx9+iMuXL0sdh4isnNFoxBdffIGysjIMGDAAcjn/Gaf6ib/ZVkAmk+H999/HBx98gF9++UXqOERkxU6dOoXMzEzMmzePR06oXmNBsQIymQwBAQGIiIjAjh07UFRUJHUkIrJCP/74IzZv3oxnn30WjRs3ljoOUa1iQbESdnZ2CA8PR2VlJQ4fPsxLj4moiuLiYrz77ruYNm0aWrduLXUcolrHgmJFGjVqhMjISGzYsAE//vgjB80SEQDAZDJh9erViIyMRMeOHaWOQ1QnWFCsTFBQEObOnYv169fj5s2bUschIolVVlYiPj4ednZ2GDBgABQKhdSRiOoEC4qVkclk6Nu3L0JCQvDRRx+hsrJS6khEJBEhBNLT03HkyBFERkaiadOmHBhLDQYLipWaMGECAGDz5s0SJyEiqRiNRnz88cfo3r07goODpY5DVKdYUKzYzJkzcenSJRw/fpzjUYgaGCEEVq1ahaCgIAwZMkTqOER1jgXFSslkMnh6emLo0KE4dOgQfv31V5YUogbCbDbj4MGDyMrKwvTp06FUKqWORFTnWFCsmEwmQ2hoKLy9vfHll1+irKxM6khEVAcyMjKwa9cuvPTSSywn1GCxoNiA6OhoZGZm4tChQzyKQlTP5eXlYefOnZg4cSJcXV2ljkMkmWoVlGXLlqFbt25o3LgxPDw8MGLECGRkZFTZJiwsDDKZrMry9NNPV9kmMzMTUVFRcHJygoeHB+bPn8+rVe5Bo9Fg3rx5iI+Pxw8//CB1HCKqJWVlZThw4AB8fHzwyCOP8D471KBV67c/MTERsbGxOHHiBOLi4mA0GjFw4ECUlpZW2W7GjBnIycmxLG+//bZlnclkQlRUFAwGA44fP47169dj3bp1eOWVV2rmE9VTvr6+eP7557F48WIUFxdLHYeIapgQAgkJCTh69ChGjBgBJycnqSMRSUomHuKcQUFBATw8PJCYmIh+/foB+O0ISufOnbFixYo7Pmf//v2Ijo5GdnY2PD09AQBr1qzBwoULUVBQcF/nW/V6PVxcXKDT6aBWqx80vs0RQuDIkSP4+uuv8dprr0GlUkkdiYhqSGFhIcaMGYMNGzZY/m0kqm+q8/39UMcPdTodAMDNza3K4xs3bkSzZs3QoUMHLFq0CLdu3bKsS0pKQseOHav8BYyMjIRer0daWtod36eiogJ6vb7K0hDJZDJ0794dAQEB2LVrFyoqKqSOREQ1oKCgAEuXLsU//vEPlhOi/3rggmI2mzF37lz07t0bHTp0sDw+fvx4bNiwAYcPH8aiRYvwxRdfYOLEiZb1ubm5f/oLePvn3NzcO77XsmXL4OLiYll8fX0fNLbNa9SoEYYMGYKLFy/izJkzvKkgkY0rKSnBF198gV69eqF79+5SxyGyGnYP+sTY2FicP38ex44dq/L4zJkzLX/u2LEjvLy8EB4ejsuXLz/wHTgXLVqEefPmWX7W6/UNuqT4+PhgwIABWL16Ndq2bfunI1hEZDv27dsHe3t7DB06lINiiX7ngf42zJ49G/v27cPhw4fh4+Nzz2179OgBALh06RKA365IycvLq7LN7Z81Gs0dX0OlUkGtVldZGrru3btj2LBhWL58OY+iENkgIQTOnTuH9PR0DB06FI6OjlJHIrIq1SooQgjMnj0bO3fuREJCAvz9/f/nc1JTUwEAXl5eAACtVotz584hPz/fsk1cXBzUajWCgoKqE6dBs7e3x8iRI+Hm5oa1a9fyMm0iGyKEQE5ODrZu3Yrw8HC0aNGCNwEk+oNqFZTY2Fhs2LABmzZtQuPGjZGbm4vc3FzLDKeXL1/GP/7xD5w+fRpXr17Fnj17MHnyZPTr1w8hISEAgIEDByIoKAiTJk3C2bNncfDgQSxevBixsbG8KqWa5HI55syZg/T0dCQkJEgdh4juk9lsxuuvvw5nZ2f07duX5YToDqp1mfHd/hKtXbsWTz75JLKysjBx4kScP38epaWl8PX1xciRI7F48eIqp2WuXbuGWbNm4ciRI2jUqBGmTJmCN998E3Z29zckpqFeZnwnQghcu3YNn3zyCSZOnMijUEQ2YOPGjfjxxx/x2muvSR2FqE5V5/v7oeZBkQoLSlWVlZU4evQozpw5g8mTJ8Pd3V3qSER0F4cOHUJiYiKee+45DnCnBqfO5kEh62BnZ4c+ffpALpdj+/btMBgMUkcioj8QQuDixYs4fPgwJk2ahCZNmkgdiciqsaDUE0qlEnPnzsWRI0eQnJzMmwoSWRmdToft27ejf//+CAgI4LgTov+BBaUekclk+OCDD7Bu3TpcuHBB6jhE9F9GoxFfffUVnJyc0L9/f5YTovvAglLPeHh44JlnnsHGjRvx888/Sx2HqMETQmDjxo04cuQIxowZw6sVie4TC0o91LFjR4SFhWHz5s0N9r5FRNbi4sWL+OqrrzB//nzeZ4eoGlhQ6iGFQoGwsDC4uLhg7969nGmWSCKlpaWYN28eVqxYgbZt20odh8imsKDUU/b29nj88ceRlpaGY8eOsaQQ1bGSkhK8++67mDNnzl1v40FEd8eCUk/JZDJ4eHggOjoaH3/8MdLS0qSORNRglJeXY//+/fD29kbPnj2hUCikjkRkc1hQ6rlevXph2rRpePfdd6HT6aSOQ1Tvmc1mpKamIj09HYMHD0bjxo2ljkRkk1hQGoBHH30UY8aMwZIlSzg/ClEtq6iowGuvvYbJkyfD29tb6jhENosFpYEICwtDhw4dsG7dOt75mKiWlJeXIyYmBs8++yz8/PykjkNk01hQGgCZTAYHBwdERUXh+vXrSEpKgslkkjoWUb2i1+uxYsUKTJs2DY899hgnYyN6SCwoDYiXlxcGDRqEQ4cO4dq1azzdQ1RDysvLsXfvXjRp0gTR0dEsJ0Q1gAWlgenYsSN69+6NV199lUdRiGqAEALJycm4evUqRo8eDQcHB6kjEdULLCgN0IABAzBkyBC8+OKLPIpC9BCEEMjOzsauXbvw+OOPo2nTplJHIqo3WFAaIHt7e4wePRotW7bEp59+CqPRKHUkIpt08+ZNLFu2DKNGjUJAQIDUcYjqFRaUBsrOzg4TJkxAYWEhDh8+zJJCVE16vR7z58+Hu7s7+vbty3EnRDWMBaUBc3FxwRNPPIGkpCRkZGTwdA/RfTIYDPjiiy8QGhqKl19+Weo4RPUSC0oD5+/vj0GDBuHzzz/nTLNE92nv3r0wGAyYMmUK5HL+M0pUG/g3i9C1a1cEBwdj9uzZvLKH6B6EEPj++++RlpaG0aNHw8nJSepIRPUWCwpBoVBg0qRJaNeuHV599VWUl5dLHYnI6ggh8Ouvv2Lnzp2Ijo6Gj48Px50Q1SIWFAIAyOVyLFq0CI0bN8bu3btRUVEhdSQiq5KXl4eVK1eiZ8+eeOSRR1hOiGoZCwpZ2NnZYcaMGbhy5QqOHj3KQbNE/1VWVoa33noLbdq0QVRUlNRxiBoEFhSqokmTJnjiiSeQmJiIn376Seo4RFbho48+QkhICJ588kmpoxA1GCwo9CctW7bEiBEjsHr1aty8eVPqOESSMZvN2LFjBxwcHBATE8MrdojqEP+20Z/I5XKEhoaiR48emD9/Pm7cuCF1JKI6ZzabkZKSgvT0dIwcORKNGzfmuBOiOsSCQnckk8kwbtw4tG3bFitWrOAcKdSgCCFw6dIl7N+/H0OGDOEVO0QSYEGhe3ruuefg7++PrVu38vJjajAyMzPxzjvvYODAgejcubPUcYgaJBYUuid7e3uMGTMGpaWl2L9/P6/soXrv1q1bWLhwIaZMmQKtVit1HKIGiwWF/qdGjRph0qRJ+O677/DDDz+wpFC9ZTQa8dprr2H69Ono2bOn1HGIGrRqFZTVq1cjJCQEarUaarUaWq0W+/fvt6wvLy9HbGwsmjZtCmdnZ8TExCAvL6/Ka2RmZiIqKgpOTk7w8PDA/PnzUVlZWTOfhmqNm5sbZs+ejVWrViE9PV3qOEQ1rry8HJs2bUK7du14d2IiK1CtguLj44M333wTp0+fRkpKCh599FEMHz4caWlpAH4br7B37158+eWXSExMRHZ2NkaNGmV5vslkQlRUFAwGA44fP47169dj3bp1eOWVV2r2U1GNk8lkaNmyJSZOnIg33ngD33//vdSRiGpMZWUlvvnmG+h0OkRHR8PBwYEFhUhiMvGQx+vd3NywfPlyjB49Gu7u7ti0aRNGjx4NAEhPT0f79u2RlJSEnj17Yv/+/YiOjkZ2djY8PT0BAGvWrMHChQtRUFAApVJ5X++p1+vh4uICnU4HtVr9MPGpmoQQOHDgAI4ePYoZM2agVatWUkciemjffPMNUlJS8OSTT8Lb21vqOET1VnW+vx94DIrJZMLmzZtRWloKrVaL06dPw2g0IiIiwrJNYGAg/Pz8kJSUBABISkpCx44dLeUEACIjI6HX6y1HYe6koqICer2+ykLSkMlkGDhwIAYOHIht27ahoKCAY1LIZgkh8NVXX+Hjjz/G9OnTWU6IrEi1C8q5c+fg7OwMlUqFp59+Gjt37kRQUBByc3OhVCrh6upaZXtPT0/k5uYCAHJzc6uUk9vrb6+7m2XLlsHFxcWy+Pr6Vjc21SCFQoF+/fqhRYsW2L59O0pLS1lSyOaYzWacOXMGmzZtwsqVK+Hh4SF1JCL6nWoXlHbt2iE1NRXJycmYNWsWpkyZggsXLtRGNotFixZBp9NZlqysrFp9P/rfFAqF5fLjbdu2wWw2Sx2J6L4JIXDlyhXs3LkTL7/8MjQaDcecEFmZahcUpVKJNm3aIDQ0FMuWLUOnTp3w/vvvQ6PRwGAwoKioqMr2eXl50Gg0AACNRvOnq3pu/3x7mztRqVSWK4duL2Qdnn/+efz444/4/PPPpY5CdN+uX7+ODRs2YNCgQQgMDJQ6DhHdwUPPg2I2m1FRUYHQ0FDY29sjPj7esi4jIwOZmZmWyY60Wi3OnTuH/Px8yzZxcXFQq9UICgp62CgkkZdeeglZWVn45JNPpI5C9D8ZjUa8+eab0Gq16NWrl9RxiOguqlVQFi1ahKNHj+Lq1as4d+4cFi1ahCNHjmDChAlwcXHB9OnTMW/ePBw+fBinT5/G1KlTodVqLRMeDRw4EEFBQZg0aRLOnj2LgwcPYvHixYiNjYVKpaqVD0i1r3HjxoiNjUV5eTl27NjB8ShktYQQmD17NoYMGYLw8HCe1iGyYtUqKPn5+Zg8eTLatWuH8PBwnDp1CgcPHsRjjz0GAHjvvfcQHR2NmJgY9OvXDxqNBjt27LA8X6FQYN++fVAoFNBqtZg4cSImT56Mv//97zX7qahOyWQyuLm5YcyYMbh48SK+/fZbmEwmqWMRVXHr1i1MmzYNAQEBGDBgABQKhdSRiOgeHnoeFClwHhTrdeXKFcu5/a5du/L/UMkq6HQ6bN26Fa6urhg+fPh9z7lERDWrTuZBIboTf39/PP7449izZw++++47qeMQ4datW9izZw+cnJwQGRnJckJkI1hQqMYFBgZi3LhxWL16Nfbu3St1HGrAzGYzNm3aBKPRiKioKB5xJbIhLChUK9q3b49FixYhJSWFd0AmSZjNZqxbtw4lJSUYM2bMnyaRJCLrZid1AKqfZDIZgoODLVOJq1QqBAQEQC5nJ6baV1ZWho8//hhpaWlYtWoV7O3tpY5ERNXEbwuqNTKZDB07dkT//v2xZ88eXLp0iUdSqNbdunULX3/9NcrKyvD222+znBDZKBYUqnVarRZ9+vTBli1bcPLkSanjUD1mMBhw6NAhFBYWYtq0aWjSpInUkYjoAbGgUJ3QarUYOnQo3nnnnSqzDRPVFCEEdu/ejWvXrmH48OF/ujEpEdkWFhSqM506dcJLL72Ew4cPIz09nad7qMZUVlZiw4YN+OmnnzBt2jTemZioHuAgWaozMpkMISEhMJlM2LlzJ0aOHIm2bdty4Cw9lNLSUnz00UcoKirC0qVLOc8JUT3BbwaqUzKZDI888gjCwsKwe/dunDt3TupIZMNKSkqwe/dumM1mPP/88ywnRPUIj6CQJLRaLRwcHLBv3z5kZ2dj8ODBUkciG2MwGPDll18CAKZPn45mzZpJnIiIahILCkmmc+fOcHR0xNtvvw0hBIYMGSJ1JLIh7733HjQaDYYPH85J2IjqIZ7iIcnIZDK0a9cOCxYsQHx8PI4ePQqz2Sx1LLJy5eXlWLx4Mfz8/DBu3DiWE6J6igWFJHW7pDz77LOIi4tDYmIiSwrd1c2bN7F48WK0bt0ao0eP5pgTonqMBYUkJ5PJ0KJFC8yaNQuJiYnYsWOH1JHIygghkJOTg08//RSBgYEYNWoUZ4glqudYUMhqeHt7Y+7cucjJycHy5ctRWloqdSSyEpmZmVi+fDk6deqEyZMnw8XFRepIRFTLWFDIqri4uGDatGlo2rQp/vnPf6KoqIgTujVgQgicO3cOS5YswYwZM/DYY4/xtA5RA8GCQlZFJpPByckJkydPRkBAAFavXo2CggKWlAaosrISW7Zswdtvv4033ngDgYGBkMlkUsciojrCgkJWRyaTwc7ODuPHj0fbtm2xatUqXLp0SepYVIcqKirwzTff4OjRo1iwYAG8vb1ZTogaGM6DQlYtJiYG7u7u2LhxI/r27Yvw8HCpI1EtMxgMWLduHcrKyrBw4UK0aNFC6khEJAEWFLJ6ffv2RZMmTbB+/Xrk5eVh1KhRcHBwkDoW1YK8vDwsW7YMXbt2xeOPPw43NzepIxGRRHiKh6yeTCZDcHAw5syZg0uXLuGzzz5DeXm51LGoBgkh8O2332LBggUYPXo0nnjiCZYTogaOBYVsglwuh4+PD1588UWYTCa8/vrruHnzptSx6CEJIWAymXDy5EmsXLkSkydPRu/evXmlDhFBJmzw8gi9Xg8XFxfodDqo1Wqp45AE9uzZg6NHj2L8+PEIDg6GSqWSOhI9AJ1Oh/j4eCQlJWHq1KkICgqSOhIR1aLqfH9zDArZpOjoaGg0GmzYsAGhoaEYPnw4nJ2dpY5F1XDp0iXs2bMHBoMBCxcu5N2IiagKHkEhm2U2m3Ht2jXs3bsXJSUlmDdvHgfP2oj4+Hjs378fjz76KAYNGgS5nGebiRqC6nx/818FsllyuRz+/v6YNm0agoODMWzYMFy+fJk3G7RiBoMBGzduxLvvvovo6GgMHDiQ5YSI7oineMjmOTs7Y+jQoXjkkUfwt7/9DUOHDsWIESPQqFEjTu5lJcxmMwoKCvDxxx+joqICW7duhZOTE//7ENFd8RQP1SvZ2dlYvnw53N3dMWrUKLRt25b/hy6xwsJCnDx5Et988w169+6NmJgYqSMRkUSq8/3NgkL1Tn5+Pg4ePIjLly+jQ4cOGD16tNSRGiQhBPLz87Fq1SqUlpbiySefRFBQEAsjUQNWa2NQVq9ejZCQEKjVaqjVami1Wuzfv9+yPiwsDDKZrMry9NNPV3mNzMxMREVFwcnJCR4eHpg/fz4qKyurE4Ponjw8PDBp0iSMHz8eWVlZ+Mtf/oKLFy9KHavBiYuLw5w5c9CqVSs8//zz6NChA8sJEd23ao1B8fHxwZtvvomAgAAIIbB+/XoMHz4cZ86cQXBwMABgxowZ+Pvf/255jpOTk+XPJpMJUVFR0Gg0OH78OHJycjB58mTY29vjjTfeqKGPRPSbgIAAzJw5E0lJSXjuuefw7LPPYsCAAbCzs+PYh1piNpuh1+uxYsUKFBUV4f3330eTJk048RoRVdtDn+Jxc3PD8uXLMX36dISFhaFz585YsWLFHbfdv38/oqOjkZ2dDU9PTwDAmjVrsHDhQhQUFNz3P2I8xUP36/avd0pKCt544w106dIFkyZNQvPmzfmlWYOEECguLsbhw4fxr3/9C0888QTGjh3LfUxEVdTJZcYmkwmbN29GaWkptFqt5fGNGzeiWbNm6NChAxYtWoRbt25Z1iUlJaFjx46WcgIAkZGR0Ov1SEtLu+t7VVRUQK/XV1mI7sftU43dunXDzp07ERQUhPfffx/btm3DL7/8InW8esFkMiElJQX/+te/cPDgQSxatAiTJ09mOSGih1Lty4zPnTsHrVaL8vJyODs7W/7RB4Dx48ejRYsW8Pb2xg8//ICFCxciIyMDO3bsAADk5uZWKScALD/n5ube9T2XLVuGpUuXVjcq0Z/ExMSgW7du2LdvH9555x307t0bQ4cO5VT5D+jKlSvYsmULDAYDOnfujKlTp/Imf0RUI6p9isdgMCAzMxM6nQ7btm3Dp59+isTExDveQyMhIQHh4eG4dOkSWrdujZkzZ+LatWs4ePCgZZtbt26hUaNG+PrrrzF48OA7vmdFRQUqKiosP+v1evj6+vIUDz2wW7du4fz58zh06BDS09Px7LPPomvXrlLHshllZWVYu3YtTp48iWHDhqFHjx7w9vbm2B4iuqdavRePUqlEmzZtAAChoaE4deoU3n//fXz88cd/2rZHjx4AYCkoGo0GJ0+erLJNXl4eAECj0dz1PVUqFf8Pl2qUk5MTunXrho4dOyIjIwPvvvsumjdvjqeeegp+fn4cSHsHZrMZBoMBycnJePfdd9GyZUssWLAAbdu2hZ0d53wkopr10P+qmM3mKkc3fi81NRUA4OXlBQDQarV4/fXXkZ+fDw8PDwC/XYqoVqt5F1OqczKZDI6OjujUqRM+/vhjbN++HbNmzUJUVBQiIyPh5+dX5Sq0hspsNuP69eu4cOECvvrqK5SWluLNN99EYGAgALDIEVGtqNYpnkWLFmHw4MHw8/NDcXExNm3ahLfeegsHDx5Eq1atsGnTJgwZMgRNmzbFDz/8gOeeew4+Pj5ITEwE8Ntgus6dO8Pb2xtvv/02cnNzMWnSJDz11FPVusyYV/FQbTl37hzi4uKQl5eHFi1aoEuXLujYsWODvVNydnY2kpOTcfz4cZSWliImJgZ9+vThEU0ieiC1NpPs9OnTER8fj5ycHLi4uCAkJAQLFy7EY489hqysLEycOBHnz59HaWkpfH19MXLkSCxevLhKiGvXrmHWrFk4cuQIGjVqhClTpuDNN9+s1iFiFhSqbZmZmThx4gQuXLiAwsJCREZGYtCgQVAoFFJHqxPZ2dnYtWsXrl69Ci8vL7Rt2xaPPPKI5WgoEdGD4FT3RDXAZDKhoKAA8fHxSElJwfnz5/Hkk08iKioKLi4uAOrH6Y3f/xPw888/48MPP8SVK1cQHR2NXr16wc/PD40bN5YwIRHVFywoRDXIZDLBaDTi+vXr+OSTT3Dy5Em0a9cOs2fPhpeXFxwcHGxykKgQAuXl5SgvL0dqaiq++OILZGVlYdCgQZgwYQKaNm3KwcJEVKNYUIhqUXZ2Nj766COcOnUKISEh6NatGwIDA9GkSRM0b97cqsuKEAK3bt1Cbm4ucnNzERcXh5MnT8LPzw/jxo1D7969rTo/Edk2FhSiOmA0GnHy5EmcOHEC+fn5yM/PR/v27dG+fXsEBASgRYsWcHR0lDomAODGjRs4d+4crly5goKCApSUlFjGivXv3x9dunSROiIRNQAsKER16PZluGfOnLEUldzcXJSUlMDR0RFhYWEICQmBj49PnRydEELAaDQiNTUV6enpSE1Nxa1bt1BaWoqAgAA88sgjaN26Nfz9/aFSqXgKh4jqDAsKkURu3zRPr9fj+vXr2LJlC0pLS/Hzzz9Dp9MhKCgIarUajz76KNq1awcvL68ql+zeb1n4/V9bg8GACxcu4OLFi7hw4QLS0tJw8eJF+Pn5WY6O+Pr6wtHREa6urhzwSkSSYUEhsgJCCJhMJgghYDabodPpcPbsWWzatAkGgwE5OTm4ceMGmjRpgoqKCgQHB8PDwwPOzs5wdnZGXl4eNBoNlEoljEYjjEYj0tLSoFQqUV5ejvz8fOTl5UGn08HX1xfdunVDcHAwgoOD0bZtWyiVSsjlcsjlcstNE4mIpMSCQmQjDAYD8vLycOLECdjZ2cFkMqG0tBQlJSXIyMiAm5sbXFxcYG9vDzs7O+Tm5sLf3x+tWrWCu7s73N3d4erqaikhRETWrFbvxUNENUepVMLX1xe+vr5SRyEisipyqQMQERER/RELChEREVkdFhQiIiKyOiwoREREZHVYUIiIiMjqsKAQERGR1WFBISIiIqvDgkJERERWhwWFiIiIrA4LChEREVkdFhQiIiKyOiwoREREZHVYUIiIiMjqsKAQERGR1WFBISIiIqvDgkJERERWhwWFiIiIrA4LChEREVkdFhQiIiKyOiwoREREZHVYUIiIiMjqsKAQERGR1WFBISIiIqvDgkJERERWhwWFiIiIrI6d1AEehBACAKDX6yVOQkRERPfr9vf27e/xe7HJglJcXAwA8PX1lTgJERERVVdxcTFcXFzuuY1M3E+NsTJmsxkZGRkICgpCVlYW1Gq11JFsll6vh6+vL/djDeC+rDnclzWD+7HmcF/WDCEEiouL4e3tDbn83qNMbPIIilwuR/PmzQEAarWavyw1gPux5nBf1hzuy5rB/VhzuC8f3v86cnIbB8kSERGR1WFBISIiIqtjswVFpVJhyZIlUKlUUkexadyPNYf7suZwX9YM7seaw31Z92xykCwRERHVbzZ7BIWIiIjqLxYUIiIisjosKERERGR1WFCIiIjI6thkQVm5ciVatmwJBwcH9OjRAydPnpQ6ktU5evQohg4dCm9vb8hkMuzatavKeiEEXnnlFXh5ecHR0RERERG4ePFilW0KCwsxYcIEqNVquLq6Yvr06SgpKanDTyG9ZcuWoVu3bmjcuDE8PDwwYsQIZGRkVNmmvLwcsbGxaNq0KZydnRETE4O8vLwq22RmZiIqKgpOTk7w8PDA/PnzUVlZWZcfRVKrV69GSEiIZZIrrVaL/fv3W9ZzHz64N998EzKZDHPnzrU8xv15f1599VXIZLIqS2BgoGU996PEhI3ZvHmzUCqV4rPPPhNpaWlixowZwtXVVeTl5Ukdzap8/fXX4qWXXhI7duwQAMTOnTurrH/zzTeFi4uL2LVrlzh79qwYNmyY8Pf3F2VlZZZtBg0aJDp16iROnDghvv32W9GmTRsxbty4Ov4k0oqMjBRr164V58+fF6mpqWLIkCHCz89PlJSUWLZ5+umnha+vr4iPjxcpKSmiZ8+eolevXpb1lZWVokOHDiIiIkKcOXNGfP3116JZs2Zi0aJFUnwkSezZs0d89dVX4qeffhIZGRnixRdfFPb29uL8+fNCCO7DB3Xy5EnRsmVLERISIubMmWN5nPvz/ixZskQEBweLnJwcy1JQUGBZz/0oLZsrKN27dxexsbGWn00mk/D29hbLli2TMJV1+2NBMZvNQqPRiOXLl1seKyoqEiqVSvznP/8RQghx4cIFAUCcOnXKss3+/fuFTCYTv/76a51ltzb5+fkCgEhMTBRC/Lbf7O3txZdffmnZ5scffxQARFJSkhDit7Iol8tFbm6uZZvVq1cLtVotKioq6vYDWJEmTZqITz/9lPvwARUXF4uAgAARFxcn+vfvbyko3J/3b8mSJaJTp053XMf9KD2bOsVjMBhw+vRpREREWB6Ty+WIiIhAUlKShMlsy5UrV5Cbm1tlP7q4uKBHjx6W/ZiUlARXV1d07drVsk1ERATkcjmSk5PrPLO10Ol0AAA3NzcAwOnTp2E0Gqvsy8DAQPj5+VXZlx07doSnp6dlm8jISOj1eqSlpdVheutgMpmwefNmlJaWQqvVch8+oNjYWERFRVXZbwB/J6vr4sWL8Pb2RqtWrTBhwgRkZmYC4H60BjZ1s8Dr16/DZDJV+WUAAE9PT6Snp0uUyvbk5uYCwB334+11ubm58PDwqLLezs4Obm5ulm0aGrPZjLlz56J3797o0KEDgN/2k1KphKura5Vt/7gv77Svb69rKM6dOwetVovy8nI4Oztj586dCAoKQmpqKvdhNW3evBnff/89Tp069ad1/J28fz169MC6devQrl075OTkYOnSpejbty/Onz/P/WgFbKqgEEkpNjYW58+fx7Fjx6SOYpPatWuH1NRU6HQ6bNu2DVOmTEFiYqLUsWxOVlYW5syZg7i4ODg4OEgdx6YNHjzY8ueQkBD06NEDLVq0wNatW+Ho6ChhMgJs7CqeZs2aQaFQ/GkUdV5eHjQajUSpbM/tfXWv/ajRaJCfn19lfWVlJQoLCxvkvp49ezb27duHw4cPw8fHx/K4RqOBwWBAUVFRle3/uC/vtK9vr2solEol2rRpg9DQUCxbtgydOnXC+++/z31YTadPn0Z+fj4eeeQR2NnZwc7ODomJifjggw9gZ2cHT09P7s8H5OrqirZt2+LSpUv8vbQCNlVQlEolQkNDER8fb3nMbDYjPj4eWq1WwmS2xd/fHxqNpsp+1Ov1SE5OtuxHrVaLoqIinD592rJNQkICzGYzevToUeeZpSKEwOzZs7Fz504kJCTA39+/yvrQ0FDY29tX2ZcZGRnIzMyssi/PnTtXpfDFxcVBrVYjKCiobj6IFTKbzaioqOA+rKbw8HCcO3cOqamplqVr166YMGGC5c/cnw+mpKQEly9fhpeXF38vrYHUo3Sra/PmzUKlUol169aJCxcuiJkzZwpXV9cqo6jptxH+Z86cEWfOnBEAxLvvvivOnDkjrl27JoT47TJjV1dXsXv3bvHDDz+I4cOH3/Ey4y5duojk5GRx7NgxERAQ0OAuM541a5ZwcXERR44cqXIp4q1btyzbPP3008LPz08kJCSIlJQUodVqhVartay/fSniwIEDRWpqqjhw4IBwd3dvUJcivvDCCyIxMVFcuXJF/PDDD+KFF14QMplMfPPNN0II7sOH9fureITg/rxfzz//vDhy5Ii4cuWK+O6770RERIRo1qyZyM/PF0JwP0rN5gqKEEJ8+OGHws/PTyiVStG9e3dx4sQJqSNZncOHDwsAf1qmTJkihPjtUuOXX35ZeHp6CpVKJcLDw0VGRkaV17hx44YYN26ccHZ2Fmq1WkydOlUUFxdL8Gmkc6d9CECsXbvWsk1ZWZn461//Kpo0aSKcnJzEyJEjRU5OTpXXuXr1qhg8eLBwdHQUzZo1E88//7wwGo11/GmkM23aNNGiRQuhVCqFu7u7CA8Pt5QTIbgPH9YfCwr35/0ZM2aM8PLyEkqlUjRv3lyMGTNGXLp0ybKe+1FaMiGEkObYDREREdGd2dQYFCIiImoYWFCIiIjI6rCgEBERkdVhQSEiIiKrw4JCREREVocFhYiIiKwOCwoRERFZHRYUIiIisjosKERERGR1WFCIiIjI6rCgEBERkdVhQSEiIiKr83//qnRsfbAQ2gAAAABJRU5ErkJggg==", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], "source": [ "# load the weights from file\n", "agent.load_state_dict(torch.load('checkpoint.pth'))\n", "\n", - "state = env.reset()\n", + "state, _ = env.reset()\n", + "img = plt.imshow(env.render()) # only call this once\n", "while True:\n", " state = torch.from_numpy(state).float().to(device)\n", " with torch.no_grad():\n", " action = agent(state)\n", - " env.render()\n", - " next_state, reward, done, _ = env.step(action)\n", + " img.set_data(env.render()) # just update the data\n", + " display.display(plt.gcf())\n", + " display.clear_output(wait=True)\n", + " next_state, reward, done, _, _ = env.step(action)\n", " state = next_state\n", " if done:\n", " break\n", "\n", "env.close()" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { "anaconda-cloud": {}, "kernelspec": { - "display_name": "Python 3", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -276,7 +297,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.6.4" + "version": "3.10.12" } }, "nbformat": 4,