Lectures/W14-L28-ReinforcementLearningDQN.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {
    "toc": true
   },
   "source": [
    "<h1>Table of Contents<span class=\"tocSkip\"></span></h1>\n",
    "<div class=\"toc\"><ul class=\"toc-item\"><li><span><a href=\"#Imports\" data-toc-modified-id=\"Imports-1\"><span class=\"toc-item-num\">1&nbsp;&nbsp;</span>Imports</a></span></li><li><span><a href=\"#Creating-and-Plotting-an-Environment\" data-toc-modified-id=\"Creating-and-Plotting-an-Environment-2\"><span class=\"toc-item-num\">2&nbsp;&nbsp;</span>Creating and Plotting an Environment</a></span></li><li><span><a href=\"#State/Observation-and-Action-Spaces\" data-toc-modified-id=\"State/Observation-and-Action-Spaces-3\"><span class=\"toc-item-num\">3&nbsp;&nbsp;</span>State/Observation and Action Spaces</a></span></li><li><span><a href=\"#Simulating-a-Random-Agent\" data-toc-modified-id=\"Simulating-a-Random-Agent-4\"><span class=\"toc-item-num\">4&nbsp;&nbsp;</span>Simulating a Random Agent</a></span></li><li><span><a href=\"#Creating-an-Animation\" data-toc-modified-id=\"Creating-an-Animation-5\"><span class=\"toc-item-num\">5&nbsp;&nbsp;</span>Creating an Animation</a></span></li><li><span><a href=\"#Creating-an-Image-Observation\" data-toc-modified-id=\"Creating-an-Image-Observation-6\"><span class=\"toc-item-num\">6&nbsp;&nbsp;</span>Creating an Image Observation</a></span></li><li><span><a href=\"#Choosing-an-Action-with-a-NN\" data-toc-modified-id=\"Choosing-an-Action-with-a-NN-7\"><span class=\"toc-item-num\">7&nbsp;&nbsp;</span>Choosing an Action with a NN</a></span></li><li><span><a href=\"#Training-the-Policy-NN\" data-toc-modified-id=\"Training-the-Policy-NN-8\"><span class=\"toc-item-num\">8&nbsp;&nbsp;</span>Training the Policy NN</a></span></li><li><span><a href=\"#Viewing-Results\" data-toc-modified-id=\"Viewing-Results-9\"><span class=\"toc-item-num\">9&nbsp;&nbsp;</span>Viewing Results</a></span></li></ul></div>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Deep Reinforcement Learning\n",
    "\n",
    "![DQN RL](https://pytorch.org/tutorials/_images/reinforcement_learning_diagram.jpg)\n",
    "\n",
    "From the PyTorch [Reinforcement Learning (DQN) Tutorial](https://pytorch.org/tutorials/intermediate/reinforcement_q_learning.html)."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Imports"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from collections import deque, namedtuple\n",
    "from itertools import count\n",
    "import random\n",
    "\n",
    "import gym\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "from PIL import Image\n",
    "\n",
    "from IPython.display import HTML\n",
    "\n",
    "import torch\n",
    "import torch.nn as nn\n",
    "import torch.nn.functional as F\n",
    "import torch.optim as optim\n",
    "import torchvision.transforms as T\n",
    "\n",
    "from fastprogress import master_bar, progress_bar\n",
    "\n",
    "from celluloid import Camera\n",
    "\n",
    "# Create a virtual display for rendering the environment\n",
    "import pyvirtualdisplay\n",
    "\n",
    "_ = pyvirtualdisplay.Display(visible=False).start()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Creating and Plotting an Environment"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
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A64F3A3+d5Df9wWBJmhxjnnHXiGPdwzndrc5zyFrggao6XlXPAnuB1RPuVJIE9LnGnWR2kp3AEWBbVT3S7fpYkieS3JdkXldbDDzfc/j+riZJmgR9BXdVnayqVcASYHWSG4AvAtcBq4CDwGe74RntKc4sJNmQZEeSHUePHh1H65I0mC7oqpKqehn4PrCmqg53gX4K+BJvLofsB5b2HLYEODDKc22qquGqGh4aGhpP75I0kPq5qmQoydXd9uXAB4GnkyzqGfZh4MlueyuwLsncJMuBFcD2Se1akgZYP1eVLAI2J5nNSNBvqapvJfnLJKsYWQbZB3wUoKp2JdkCPAWcAO7yihJJmjxjBndVPQHcOEr9jvMcsxHYOLHWJEmj8ZOTktQYg1uSGmNwS1JjDG5JaozBLUmNMbglqTEGtyQ1xuCWpMYY3JLUGINbkhpjcEtSYwxuSWqMwS1JjTG4JakxBrckNcbglqTGGNyS1BiDW5IaY3BLUmMMbklqjMEtSY0xuCWpMamq6e6BJEeB14BfTHcvU2ABzqs1M3Vuzqst/6CqhkbbcVEEN0CSHVU1PN19TDbn1Z6ZOjfnNXO4VCJJjTG4JakxF1Nwb5ruBqaI82rPTJ2b85ohLpo1bklSfy6mM25JUh+mPbiTrEmyJ8neJHdPdz8XKsl9SY4kebKnNj/JtiTPdPfzevbd0811T5JbpqfrsSVZmuR7SXYn2ZXk41296bkluSzJ9iSPd/P6VFdvel6nJZmd5CdJvtU9ninz2pfkp0l2JtnR1WbE3MalqqbtBswG/hb4h8ClwOPAyunsaRxz+CfA7wBP9tT+E3B3t3038B+77ZXdHOcCy7u5z57uOZxjXouA3+m2rwL+puu/6bkBAa7stucAjwDva31ePfP7t8BfAd+aKf8vdv3uAxacUZsRcxvPbbrPuFcDe6vqZ1X1a+ABYO0093RBquoHwEtnlNcCm7vtzcBtPfUHqup4VT0L7GXkv8FFp6oOVtWPu+1Xgd3AYhqfW4041j2c092KxucFkGQJ8AfAf+0pNz+v85jJczuv6Q7uxcDzPY/3d7XWLayqgzASgMA1Xb3J+SZZBtzIyNlp83PrlhN2AkeAbVU1I+YFfAH4d8CpntpMmBeM/OX63SSPJdnQ1WbK3C7YJdP8+hmlNpMvc2luvkmuBL4OfKKqXklGm8LI0FFqF+XcquoksCrJ1cCDSW44z/Am5pXknwNHquqxJDf3c8gotYtuXj1uqqoDSa4BtiV5+jxjW5vbBZvuM+79wNKex0uAA9PUy2Q6nGQRQHd/pKs3Nd8kcxgJ7a9W1Te68oyYG0BVvQx8H1hD+/O6CfgXSfYxsuT4/iT30/68AKiqA939EeBBRpY+ZsTcxmO6g/tRYEWS5UkuBdYBW6e5p8mwFVjfba8HHuqpr0syN8lyYAWwfRr6G1NGTq2/DOyuqs/17Gp6bkmGujNtklwOfBB4msbnVVX3VNWSqlrGyJ+j/1lV/4rG5wWQ5B1Jrjq9DXwIeJIZMLdxm+53R4FbGbli4W+BP5nufsbR/9eAg8AbjPxNfyfw94GHgWe6+/k94/+km+se4J9Nd//nmdfvMfLPyyeAnd3t1tbnBvxj4CfdvJ4E/kNXb3peZ8zxZt68qqT5eTFy1dnj3W3X6ZyYCXMb781PTkpSY6Z7qUSSdIEMbklqjMEtSY0xuCWpMQa3JDXG4JakxhjcktQYg1uSGvP/AIDtrOwc3aN5AAAAAElFTkSuQmCC\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "env = gym.make(\"CartPole-v0\")\n",
    "env.reset()\n",
    "\n",
    "frame = env.render(mode=\"rgb_array\")\n",
    "_ = plt.imshow(frame)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## State/Observation and Action Spaces"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Observation space:\n",
      "\t Box([-4.8000002e+00 -3.4028235e+38 -4.1887903e-01 -3.4028235e+38], [4.8000002e+00 3.4028235e+38 4.1887903e-01 3.4028235e+38], (4,), float32)\n",
      "Action space:\n",
      "\t Discrete(2)\n"
     ]
    }
   ],
   "source": [
    "print(\"Observation space:\\n\\t\", env.observation_space)\n",
    "print(\"Action space:\\n\\t\", env.action_space)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Simulating a Random Agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "    <div>\n",
       "        <style>\n",
       "            /* Turns off some styling */\n",
       "            progress {\n",
       "                /* gets rid of default border in Firefox and Opera. */\n",
       "                border: none;\n",
       "                /* Needs to be in here for Safari polyfill so background images work as expected. */\n",
       "                background-size: auto;\n",
       "            }\n",
       "            .progress-bar-interrupted, .progress-bar-interrupted::-webkit-progress-bar {\n",
       "                background: #F44336;\n",
       "            }\n",
       "        </style>\n",
       "      <progress value='4' class='' max='4' style='width:300px; height:20px; vertical-align: middle;'></progress>\n",
       "      100.00% [4/4 00:00<00:00]\n",
       "    </div>\n",
       "    "
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Stopping after 39 steps.\n",
      "Stopping after 15 steps.\n",
      "Stopping after 27 steps.\n",
      "Stopping after 19 steps.\n"
     ]
    }
   ],
   "source": [
    "num_episodes = 4\n",
    "max_steps = 1000\n",
    "\n",
    "for episode in progress_bar(range(num_episodes)):\n",
    "\n",
    "    observation = env.reset()\n",
    "\n",
    "    for t in count():\n",
    "\n",
    "        action = env.action_space.sample()\n",
    "\n",
    "        observation, reward, complete, info = env.step(action)\n",
    "\n",
    "        if complete:\n",
    "            print(f\"Stopping after {t} steps.\")\n",
    "            break\n",
    "\n",
    "env.close()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Creating an Animation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Stopping after 10 steps.\n"
     ]
    }
   ],
   "source": [
    "obs = env.reset()\n",
    "frames = [env.render(mode=\"rgb_array\")]\n",
    "\n",
    "for t in count():\n",
    "\n",
    "    action = env.action_space.sample()\n",
    "\n",
    "    obs, reward, complete, info = env.step(action)\n",
    "\n",
    "    frames.append(env.render(mode=\"rgb_array\"))\n",
    "\n",
    "    if complete:\n",
    "        print(f\"Stopping after {t} steps.\")\n",
    "        break\n",
    "\n",
    "env.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "<link rel=\"stylesheet\"\n",
       "href=\"https://maxcdn.bootstrapcdn.com/font-awesome/4.4.0/css/font-awesome.min.css\">\n",
       "<script language=\"javascript\">\n",
       "  function isInternetExplorer() {\n",
       "    ua = navigator.userAgent;\n",
       "    /* MSIE used to detect old browsers and Trident used to newer ones*/\n",
       "    return ua.indexOf(\"MSIE \") > -1 || ua.indexOf(\"Trident/\") > -1;\n",
       "  }\n",
       "\n",
       "  /* Define the Animation class */\n",
       "  function Animation(frames, img_id, slider_id, interval, loop_select_id){\n",
       "    this.img_id = img_id;\n",
       "    this.slider_id = slider_id;\n",
       "    this.loop_select_id = loop_select_id;\n",
       "    this.interval = interval;\n",
       "    this.current_frame = 0;\n",
       "    this.direction = 0;\n",
       "    this.timer = null;\n",
       "    this.frames = new Array(frames.length);\n",
       "\n",
       "    for (var i=0; i<frames.length; i++)\n",
       "    {\n",
       "     this.frames[i] = new Image();\n",
       "     this.frames[i].src = frames[i];\n",
       "    }\n",
       "    var slider = document.getElementById(this.slider_id);\n",
       "    slider.max = this.frames.length - 1;\n",
       "    if (isInternetExplorer()) {\n",
       "        // switch from oninput to onchange because IE <= 11 does not conform\n",
       "        // with W3C specification. It ignores oninput and onchange behaves\n",
       "        // like oninput. In contrast, Microsoft Edge behaves correctly.\n",
       "        slider.setAttribute('onchange', slider.getAttribute('oninput'));\n",
       "        slider.setAttribute('oninput', null);\n",
       "    }\n",
       "    this.set_frame(this.current_frame);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.get_loop_state = function(){\n",
       "    var button_group = document[this.loop_select_id].state;\n",
       "    for (var i = 0; i < button_group.length; i++) {\n",
       "        var button = button_group[i];\n",
       "        if (button.checked) {\n",
       "            return button.value;\n",
       "        }\n",
       "    }\n",
       "    return undefined;\n",
       "  }\n",
       "\n",
       "  Animation.prototype.set_frame = function(frame){\n",
       "    this.current_frame = frame;\n",
       "    document.getElementById(this.img_id).src =\n",
       "            this.frames[this.current_frame].src;\n",
       "    document.getElementById(this.slider_id).value = this.current_frame;\n",
       "  }\n",
       "\n",
       "  Animation.prototype.next_frame = function()\n",
       "  {\n",
       "    this.set_frame(Math.min(this.frames.length - 1, this.current_frame + 1));\n",
       "  }\n",
       "\n",
       "  Animation.prototype.previous_frame = function()\n",
       "  {\n",
       "    this.set_frame(Math.max(0, this.current_frame - 1));\n",
       "  }\n",
       "\n",
       "  Animation.prototype.first_frame = function()\n",
       "  {\n",
       "    this.set_frame(0);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.last_frame = function()\n",
       "  {\n",
       "    this.set_frame(this.frames.length - 1);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.slower = function()\n",
       "  {\n",
       "    this.interval /= 0.7;\n",
       "    if(this.direction > 0){this.play_animation();}\n",
       "    else if(this.direction < 0){this.reverse_animation();}\n",
       "  }\n",
       "\n",
       "  Animation.prototype.faster = function()\n",
       "  {\n",
       "    this.interval *= 0.7;\n",
       "    if(this.direction > 0){this.play_animation();}\n",
       "    else if(this.direction < 0){this.reverse_animation();}\n",
       "  }\n",
       "\n",
       "  Animation.prototype.anim_step_forward = function()\n",
       "  {\n",
       "    this.current_frame += 1;\n",
       "    if(this.current_frame < this.frames.length){\n",
       "      this.set_frame(this.current_frame);\n",
       "    }else{\n",
       "      var loop_state = this.get_loop_state();\n",
       "      if(loop_state == \"loop\"){\n",
       "        this.first_frame();\n",
       "      }else if(loop_state == \"reflect\"){\n",
       "        this.last_frame();\n",
       "        this.reverse_animation();\n",
       "      }else{\n",
       "        this.pause_animation();\n",
       "        this.last_frame();\n",
       "      }\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.anim_step_reverse = function()\n",
       "  {\n",
       "    this.current_frame -= 1;\n",
       "    if(this.current_frame >= 0){\n",
       "      this.set_frame(this.current_frame);\n",
       "    }else{\n",
       "      var loop_state = this.get_loop_state();\n",
       "      if(loop_state == \"loop\"){\n",
       "        this.last_frame();\n",
       "      }else if(loop_state == \"reflect\"){\n",
       "        this.first_frame();\n",
       "        this.play_animation();\n",
       "      }else{\n",
       "        this.pause_animation();\n",
       "        this.first_frame();\n",
       "      }\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.pause_animation = function()\n",
       "  {\n",
       "    this.direction = 0;\n",
       "    if (this.timer){\n",
       "      clearInterval(this.timer);\n",
       "      this.timer = null;\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.play_animation = function()\n",
       "  {\n",
       "    this.pause_animation();\n",
       "    this.direction = 1;\n",
       "    var t = this;\n",
       "    if (!this.timer) this.timer = setInterval(function() {\n",
       "        t.anim_step_forward();\n",
       "    }, this.interval);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.reverse_animation = function()\n",
       "  {\n",
       "    this.pause_animation();\n",
       "    this.direction = -1;\n",
       "    var t = this;\n",
       "    if (!this.timer) this.timer = setInterval(function() {\n",
       "        t.anim_step_reverse();\n",
       "    }, this.interval);\n",
       "  }\n",
       "</script>\n",
       "\n",
       "<style>\n",
       ".animation {\n",
       "    display: inline-block;\n",
       "    text-align: center;\n",
       "}\n",
       "input[type=range].anim-slider {\n",
       "    width: 374px;\n",
       "    margin-left: auto;\n",
       "    margin-right: auto;\n",
       "}\n",
       ".anim-buttons {\n",
       "    margin: 8px 0px;\n",
       "}\n",
       ".anim-buttons button {\n",
       "    padding: 0;\n",
       "    width: 36px;\n",
       "}\n",
       ".anim-state label {\n",
       "    margin-right: 8px;\n",
       "}\n",
       ".anim-state input {\n",
       "    margin: 0;\n",
       "    vertical-align: middle;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div class=\"animation\">\n",
       "  <img id=\"_anim_img385538558c00416fba250de56f6b431d\">\n",
       "  <div class=\"anim-controls\">\n",
       "    <input id=\"_anim_slider385538558c00416fba250de56f6b431d\" type=\"range\" class=\"anim-slider\"\n",
       "           name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n",
       "           oninput=\"anim385538558c00416fba250de56f6b431d.set_frame(parseInt(this.value));\"></input>\n",
       "    <div class=\"anim-buttons\">\n",
       "      <button title=\"Decrease speed\" aria-label=\"Decrease speed\" onclick=\"anim385538558c00416fba250de56f6b431d.slower()\">\n",
       "          <i class=\"fa fa-minus\"></i></button>\n",
       "      <button title=\"First frame\" aria-label=\"First frame\" onclick=\"anim385538558c00416fba250de56f6b431d.first_frame()\">\n",
       "        <i class=\"fa fa-fast-backward\"></i></button>\n",
       "      <button title=\"Previous frame\" aria-label=\"Previous frame\" onclick=\"anim385538558c00416fba250de56f6b431d.previous_frame()\">\n",
       "          <i class=\"fa fa-step-backward\"></i></button>\n",
       "      <button title=\"Play backwards\" aria-label=\"Play backwards\" onclick=\"anim385538558c00416fba250de56f6b431d.reverse_animation()\">\n",
       "          <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
       "      <button title=\"Pause\" aria-label=\"Pause\" onclick=\"anim385538558c00416fba250de56f6b431d.pause_animation()\">\n",
       "          <i class=\"fa fa-pause\"></i></button>\n",
       "      <button title=\"Play\" aria-label=\"Play\" onclick=\"anim385538558c00416fba250de56f6b431d.play_animation()\">\n",
       "          <i class=\"fa fa-play\"></i></button>\n",
       "      <button title=\"Next frame\" aria-label=\"Next frame\" onclick=\"anim385538558c00416fba250de56f6b431d.next_frame()\">\n",
       "          <i class=\"fa fa-step-forward\"></i></button>\n",
       "      <button title=\"Last frame\" aria-label=\"Last frame\" onclick=\"anim385538558c00416fba250de56f6b431d.last_frame()\">\n",
       "          <i class=\"fa fa-fast-forward\"></i></button>\n",
       "      <button title=\"Increase speed\" aria-label=\"Increase speed\" onclick=\"anim385538558c00416fba250de56f6b431d.faster()\">\n",
       "          <i class=\"fa fa-plus\"></i></button>\n",
       "    </div>\n",
       "    <form title=\"Repetition mode\" aria-label=\"Repetition mode\" action=\"#n\" name=\"_anim_loop_select385538558c00416fba250de56f6b431d\"\n",
       "          class=\"anim-state\">\n",
       "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_385538558c00416fba250de56f6b431d\"\n",
       "             >\n",
       "      <label for=\"_anim_radio1_385538558c00416fba250de56f6b431d\">Once</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_385538558c00416fba250de56f6b431d\"\n",
       "             checked>\n",
       "      <label for=\"_anim_radio2_385538558c00416fba250de56f6b431d\">Loop</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_385538558c00416fba250de56f6b431d\"\n",
       "             >\n",
       "      <label for=\"_anim_radio3_385538558c00416fba250de56f6b431d\">Reflect</label>\n",
       "    </form>\n",
       "  </div>\n",
       "</div>\n",
       "\n",
       "\n",
       "<script language=\"javascript\">\n",
       "  /* Instantiate the Animation class. */\n",
       "  /* The IDs given should match those used in the template above. */\n",
       "  (function() {\n",
       "    var img_id = \"_anim_img385538558c00416fba250de56f6b431d\";\n",
       "    var slider_id = \"_anim_slider385538558c00416fba250de56f6b431d\";\n",
       "    var loop_select_id = \"_anim_loop_select385538558c00416fba250de56f6b431d\";\n",
       "    var frames = new Array(12);\n",
       "    \n",
       "  frames[0] = \"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAbAAAAEgCAYAAADVKCZpAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90\\\n",
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       "\"\n",
       "\n",
       "\n",
       "    /* set a timeout to make sure all the above elements are created before\n",
       "       the object is initialized. */\n",
       "    setTimeout(function() {\n",
       "        anim385538558c00416fba250de56f6b431d = new Animation(frames, img_id, slider_id, 200.0,\n",
       "                                 loop_select_id);\n",
       "    }, 0);\n",
       "  })()\n",
       "</script>\n"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig = plt.figure()\n",
    "camera = Camera(fig)\n",
    "\n",
    "for frame in frames:\n",
    "    plt.imshow(frame)\n",
    "    camera.snap()\n",
    "\n",
    "animation = camera.animate()\n",
    "HTML(animation.to_jshtml())"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Creating an Image Observation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fheight, fwidth, _ = frame.shape\n",
    "\n",
    "crop_height_min = int(fheight * 0.4)\n",
    "crop_height_max = int(fheight * 0.8)\n",
    "\n",
    "frame_cropped = frame[crop_height_min:crop_height_max, :, :]\n",
    "\n",
    "_ = plt.imshow(frame_cropped)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "crop_width = int(fwidth * 0.6)\n",
    "\n",
    "ewidth = env.x_threshold * 2\n",
    "width_scale = fwidth / ewidth\n",
    "\n",
    "epos = env.state[0]\n",
    "spos = int(epos * width_scale + fwidth / 2)\n",
    "spos\n",
    "\n",
    "crop_width_min = spos - crop_width // 2\n",
    "crop_width_max = spos + crop_width // 2\n",
    "\n",
    "frame_cropped = frame[crop_height_min:crop_height_max, crop_width_min:crop_width_max, :]\n",
    "\n",
    "_ = plt.imshow(frame_cropped)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "frame_cropped_float = frame_cropped / 255\n",
    "frame_cropped_float = torch.from_numpy(frame_cropped_float)\n",
    "_ = plt.imshow(frame_cropped_float)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "torch.Size([3, 160, 360])\n"
     ]
    },
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAXAAAAC2CAYAAADA39YiAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90bGliIHZlcnNpb24zLjUuMSwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy/YYfK9AAAACXBIWXMAAAsTAAALEwEAmpwYAAAOfklEQVR4nO3dXYxU933G8edheVlYsAHvQjbgZnFDnUYWhhTZTlxVro1TGlWhN5FsKRWVLHGRRLWruDVupUq+84UVtRdRJdS4QW3kyE3cGllRkhWOlTaJHC8vTsAY49gYE9bsQngx77vLrxdzWPYMu+ywM3PO/L3fjzSa8ztnZs+zw8yP//7nzBlHhAAA6ZlRdgAAwNTQwAEgUTRwAEgUDRwAEkUDB4BE0cABIFF1NXDb623vt/227c2NCgUAmJynehy47TZJb0l6UNJhSa9Jejgi3mhcPADARGbWcd+7JL0dEe9Iku3vStogacIG3tnZGT09PXXsEgCmnx07dhyLiK7q9fU08GWS3h9TH5Z09/Xu0NPTo76+vjp2CQDTj+33xltfzxy4x1l3zXyM7U22+2z3DQ4O1rE7AMBY9TTww5JuHVMvl3Sk+kYRsSUi1kbE2q6ua/4CAABMUT0N/DVJK22vsD1b0kOStjUmFgBgMlOeA4+IYdtfk/QjSW2Sno2IvQ1LBgC4rnrexFRE/EDSDxqUBQBwA/gkJgAkigYOAImigQNAomjgAJCout7EBHCtCyeP5uqRi2dzdfui7tHlttlzC8mEjyZG4ACQKBo4ACSKBg4AiWIOHGiwQz97LlefPLgrVy/+5NWTdn7yz75SSCZ8NDECB4BE0cABIFE0cABIFHPgQJ1GLl3I1RdPDeRvUPW9szNncew3GoMROAAkigYOAIliCgWo04VTH+TqS2eO52rPaMvVC5Z/qumZMD0wAgeARNHAASBRNHAASBRz4ECdzh59J1dfHrqYq2fMmpOr5445nSxQD0bgAJAoGjgAJIoGDgCJYg4cqNP5Y4dzdcTlXD17/uJcPefmjzU9E6YHRuAAkCgaOAAkigYOAIliDhyYgssjQ6PLZwbeuc4tpXldPbm6bXZ7MyJhGpp0BG77WdsDtveMWbfYdq/tA9n1oubGBABUq2UK5duS1let2yxpe0SslLQ9qwEABZp0CiUifmq7p2r1Bkn3ZctbJb0i6YlGBgNa2fD506PLl87+rmqrc1VH5+8VkAjT0VTfxFwaEf2SlF0vaVwkAEAtmn4Uiu1Ntvts9w0ODjZ7dwAwbUy1gR+13S1J2fXARDeMiC0RsTYi1nZ1dU1xdwCAalM9jHCbpI2Sns6uX2xYIiAB544dGl0euXAmt23GzNm5umNJTxGRMA3Vchjhc5J+Iel224dtP6JK437Q9gFJD2Y1AKBAtRyF8vAEmx5ocBYAwA3go/QAkCg+Sg9MwYdHDowuXx4Zzm2bc3P+9LFzb1leSCZMP4zAASBRNHAASBRTKEBNIleNPYywWnvVN+7MbJ/flEQAI3AASBQNHAASRQMHgEQxBw7UYLjq4/IXTn0w4W2vPX2sx70dUC9G4ACQKBo4ACSKBg4AiWIOHKjB+eOHc/XQ2VOjy27Lv4zmf3xlIZkARuAAkCgaOAAkigYOAIliDhyowdmBg7k6Ri6NLrfN6chtqz4XCtAsjMABIFE0cABIFFMoQA3OVp0+NuLq6WXn3LQkt232TZ2FZAIYgQNAomjgAJAoGjgAJIo5cGAcI0MXcvW5wfcmvO38Jbfl6hlts5qSCajGCBwAEkUDB4BE0cABIFHMgQPjGDp7Il+fP5Wr7atjn7mdywvJBFRjBA4AiZq0gdu+1fZPbO+zvdf2o9n6xbZ7bR/Irhc1Py4A4IpaplCGJX09InbaXiBph+1eSX8taXtEPG17s6TNkp5oXlSgOGcH3s3VIxfP5eoZs+aMLncszR9GCBRl0hF4RPRHxM5s+UNJ+yQtk7RB0tbsZlsl/WWTMgIAxnFDc+C2eyStkfSqpKUR0S9VmrykJRPcZ5PtPtt9g4ODdcYFAFxRcwO3PV/S9yU9FhGna71fRGyJiLURsbarq2sqGQEA46jpMELbs1Rp3t+JiBey1Udtd0dEv+1uSQPNCgkU7cMjB3J1XB7J1bMX3DK6zDfwoCy1HIViSd+StC8ivjFm0zZJG7PljZJebHw8AMBEahmB3yvpryT92vbubN0/SHpa0vO2H5F0SNKXmpIQADCuSRt4RPyfJE+w+YHGxgEA1IqP0gOS4vLlXH3+xJHr3n7svHfb7PamZAImw0fpASBRNHAASBQNHAASxRw4IGno3MlcffHkB/kbOP8+/nzOf4IWwAgcABJFAweARDGFAujab50fvnAmV89oy79UOpauaHomYDKMwAEgUTRwAEgUDRwAEsUcOCDp3LFDufryyHCunt2xMFdzClm0AkbgAJAoGjgAJIoGDgCJYg4c01fE6OKZgXfz2xy5sn1hfs57VseipsUCasUIHAASRQMHgETRwAEgUcyBY9oauXR+dPnC736b35ifAlfH0t/P1Z7B2Afl41kIAImigQNAophCwbR18fTA6PLQ+Q9z2zyjLVfP61xeSCbgRjACB4BE0cABIFE0cABIFHPgmLbOHP3N6PLloQu5bW1zOnJ1xxK+Qg2thxE4ACRq0gZuu932L22/bnuv7aey9Ytt99o+kF1zdh8AKFAtI/CLku6PiDslrZa03vY9kjZL2h4RKyVtz2oAQEEmnQOPiJB0JitnZZeQtEHSfdn6rZJekfREwxMCTXLmyFtXixjJbetY3J2r2xfma6AV1DQHbrvN9m5JA5J6I+JVSUsjol+SsuslE9x3k+0+232Dg4MNig0AqKmBR8RIRKyWtFzSXbbvqHUHEbElItZGxNqurq4pxgQAVLuhwwgj4qTtVyStl3TUdndE9NvuVmV0DjTUrl27cvXjjz8+5Z81Z1Z+vPK1z//B6PKym/Pvwf98555c/ZVvrqv6aVWnK7yOZ555JlevWbOm5vsC11PLUShdthdmy3MlrZP0pqRtkjZmN9so6cUmZQQAjKOWEXi3pK2221Rp+M9HxEu2fyHpeduPSDok6UtNzAkAqFLLUSi/knTN33wRcVzSA80IBQCYHB+lR0s7fvx4rn755Zen/LNuWpA/FPBzd1/96MI7I3Nz237407/L7/d/fz7l/Vb/DkCj8FF6AEgUDRwAEkUDB4BEMQeOljZzZuOeoqtuz3+zfHvHx0aXz43kj+t+4/2zDdtvI38HYCxG4ACQKBo4ACSKBg4AiSp0cm5oaEj9/f1F7hKJO3bsWMN+1psHdubqE89uHF1e0b0wt23g6BsN22/178BrAI3CCBwAEkUDB4BEFTqFMjw8LL7UATfi5MmTDftZx06dq6p3jC7v3d+w3Vyj+nfgNYBGYQQOAImigQNAomjgAJCoQufA586dq1WrVhW5SyTuxIkTZUeo28qVK3M1rwE0CiNwAEgUDRwAEkUDB4BEcZ5LtLShoaGyI9Tto/A7oDUxAgeARNHAASBRNHAASBRz4GhpnZ2duXrdunUlJZm66t8BaBRG4ACQKBo4ACSKKRS0tNWrV+fq3t7ecoIALYgROAAkigYOAImigQNAohwRxe3MHpT0nqROSY37uvHGIFNtWjGT1Jq5yFQbMk3uExHRVb2y0AY+ulO7LyLWFr7j6yBTbVoxk9SauchUGzJNHVMoAJAoGjgAJKqsBr6lpP1eD5lq04qZpNbMRabakGmKSpkDBwDUjykUAEhUoQ3c9nrb+22/bXtzkfuuyvGs7QHbe8asW2y71/aB7HpRwZlutf0T2/ts77X9aNm5bLfb/qXt17NMT5WdaUy2Ntu7bL/UCplsH7T9a9u7bfe1SKaFtr9n+83sefXZFsh0e/YYXbmctv1YC+T62+w5vsf2c9lzv/Tn+WQKa+C22yR9U9KfS/q0pIdtf7qo/Vf5tqT1Ves2S9oeESslbc/qIg1L+npE/KGkeyR9NXt8ysx1UdL9EXGnpNWS1tu+p+RMVzwqad+YuhUy/WlErB5z+FnZmf5F0g8j4lOS7lTl8So1U0Tszx6j1ZL+SNI5Sf9dZi7byyT9jaS1EXGHpDZJD5WZqWYRUchF0mcl/WhM/aSkJ4va/zh5eiTtGVPvl9SdLXdL2l9WtizDi5IebJVckuZJ2inp7rIzSVquygvqfkkvtcK/n6SDkjqr1pWWSdJNkt5V9j5XK2QaJ+PnJf2s7FySlkl6X9JiVU7w91KWrWUeq4kuRU6hXHmQrjicrWsVSyOiX5Ky6yVlBbHdI2mNpFfLzpVNVeyWNCCpNyJKzyTpnyX9vaTLY9aVnSkk/dj2DtubWiDTbZIGJf17NtX0b7Y7Ss5U7SFJz2XLpeWKiN9KekbSIUn9kk5FxI/LzFSrIhu4x1nHITBVbM+X9H1Jj0XE6bLzRMRIVP7cXS7pLtt3lJnH9l9IGoiIHWXmGMe9EfEZVaYIv2r7T0rOM1PSZyT9a0SskXRWLTQFYHu2pC9K+q8WyLJI0gZJKyR9XFKH7S+Xm6o2RTbww5JuHVMvl3SkwP1P5qjtbknKrgeKDmB7lirN+zsR8UKr5JKkiDgp6RVV3jsoM9O9kr5o+6Ck70q63/Z/lpxJEXEkux5QZU73rpIzHZZ0OPuLSZK+p0pDb4nnkyr/0e2MiKNZXWaudZLejYjBiBiS9IKkz5WcqSZFNvDXJK20vSL73/chSdsK3P9ktknamC1vVGUOujC2LelbkvZFxDdaIZftLtsLs+W5qjzR3ywzU0Q8GRHLI6JHlefQyxHx5TIz2e6wveDKsirzp3vKzBQRH0h63/bt2aoHJL1RZqYqD+vq9IlUbq5Dku6xPS97HT6gyhu+rfJYTazICXdJX5D0lqTfSPrHsib+VXni9EsaUmWk8oikW1R5Y+xAdr244Ex/rMqU0q8k7c4uXygzl6RVknZlmfZI+qdsfamP1Zh89+nqm5hlPk63SXo9u+y98twu+3FS5cihvuzf738kLSo7U5ZrnqTjkm4es67sx+opVQYneyT9h6Q5ZWeq5cInMQEgUXwSEwASRQMHgETRwAEgUTRwAEgUDRwAEkUDB4BE0cABIFE0cABI1P8D5+UlVRF0n90AAAAASUVORK5CYII=\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "frame_permuted = frame_cropped_float.permute(2, 0, 1)\n",
    "print(frame_permuted.shape)\n",
    "\n",
    "xform = T.Compose(\n",
    "    [\n",
    "        T.ToPILImage(),\n",
    "        T.Resize(40, interpolation=T.InterpolationMode.BICUBIC),\n",
    "        T.ToTensor(),\n",
    "    ]\n",
    ")\n",
    "\n",
    "x = xform(frame_permuted)\n",
    "\n",
    "_ = plt.imshow(x.permute(1, 2, 0).numpy())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "new_height = 40\n",
    "\n",
    "frame_xforms = T.Compose(\n",
    "    [\n",
    "        T.ToPILImage(),\n",
    "        T.Resize(new_height, interpolation=T.InterpolationMode.BICUBIC),\n",
    "        T.ToTensor(),\n",
    "    ]\n",
    ")\n",
    "\n",
    "\n",
    "def prepare_frame(frame):\n",
    "    fheight, fwidth, _ = frame.shape\n",
    "\n",
    "    crop_height_min = int(fheight * 0.4)\n",
    "    crop_height_max = int(fheight * 0.8)\n",
    "\n",
    "    crop_width = int(fwidth * 0.6)\n",
    "\n",
    "    ewidth = env.x_threshold * 2\n",
    "    width_scale = fwidth / ewidth\n",
    "\n",
    "    epos = env.state[0]\n",
    "    spos = int(epos * width_scale + fwidth / 2)\n",
    "\n",
    "    crop_width_min = spos - crop_width // 2\n",
    "    crop_width_max = spos + crop_width // 2\n",
    "\n",
    "    cframe = frame[crop_height_min:crop_height_max, crop_width_min:crop_width_max, :]\n",
    "    tframe = torch.from_numpy(cframe / 255).permute(2, 0, 1)\n",
    "\n",
    "    return frame_xforms(tframe).unsqueeze(0)\n",
    "\n",
    "\n",
    "_ = plt.imshow(prepare_frame(frame).squeeze().permute(1, 2, 0).numpy())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "env.reset()\n",
    "\n",
    "frame1 = env.render(mode=\"rgb_array\")\n",
    "\n",
    "env.step(1)\n",
    "env.step(1)\n",
    "env.step(1)\n",
    "env.step(1)\n",
    "\n",
    "frame2 = env.render(mode=\"rgb_array\")\n",
    "\n",
    "env.close()\n",
    "\n",
    "pframe1 = prepare_frame(frame1)\n",
    "pframe2 = prepare_frame(frame2)\n",
    "\n",
    "state = pframe2 - pframe1\n",
    "\n",
    "# Scale between 0 and 1 for rendering\n",
    "state += state.min().abs()\n",
    "state /= state.max()\n",
    "\n",
    "_ = plt.imshow(state.squeeze().permute(1, 2, 0).numpy())"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Choosing an Action with a NN"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "    <div>\n",
       "        <style>\n",
       "            /* Turns off some styling */\n",
       "            progress {\n",
       "                /* gets rid of default border in Firefox and Opera. */\n",
       "                border: none;\n",
       "                /* Needs to be in here for Safari polyfill so background images work as expected. */\n",
       "                background-size: auto;\n",
       "            }\n",
       "            .progress-bar-interrupted, .progress-bar-interrupted::-webkit-progress-bar {\n",
       "                background: #F44336;\n",
       "            }\n",
       "        </style>\n",
       "      <progress value='4' class='' max='4' style='width:300px; height:20px; vertical-align: middle;'></progress>\n",
       "      100.00% [4/4 00:00<00:00]\n",
       "    </div>\n",
       "    "
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "num_episodes = 4\n",
    "\n",
    "for episode in progress_bar(range(num_episodes)):\n",
    "\n",
    "    env.reset()\n",
    "    prev_frame = prepare_frame(env.render(mode=\"rgb_array\"))\n",
    "    curr_frame = prev_frame\n",
    "    state = curr_frame - prev_frame\n",
    "\n",
    "    for t in count():\n",
    "\n",
    "        # How do we choose an action?\n",
    "        #         action = ...\n",
    "        #         obs, reward, complete, info = env.step(action)\n",
    "\n",
    "        prev_frame = curr_frame\n",
    "        curr_frame = env.render(mode=\"rgb_array\")\n",
    "\n",
    "        # How do we optimize?\n",
    "\n",
    "        if complete:\n",
    "            break\n",
    "\n",
    "env.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [],
   "source": [
    "def conv_output_size(size, kernel_size, stride):\n",
    "    return (size - (kernel_size - 1) - 1) // stride + 1\n",
    "\n",
    "\n",
    "class DQN(nn.Module):\n",
    "    def __init__(self, h, w, outputs):\n",
    "        super(DQN, self).__init__()\n",
    "\n",
    "        F = 5\n",
    "        S = 2\n",
    "\n",
    "        K0 = 3\n",
    "        K1 = 16\n",
    "        self.conv1 = nn.Conv2d(K0, K1, kernel_size=F, stride=S)\n",
    "        self.bn1 = nn.BatchNorm2d(K1)\n",
    "\n",
    "        h1 = conv_output_size(h, F, S)\n",
    "        w1 = conv_output_size(w, F, S)\n",
    "\n",
    "        K2 = 32\n",
    "        self.conv2 = nn.Conv2d(K1, K2, kernel_size=F, stride=S)\n",
    "        self.bn2 = nn.BatchNorm2d(K2)\n",
    "\n",
    "        h2 = conv_output_size(h1, F, S)\n",
    "        w2 = conv_output_size(w1, F, S)\n",
    "\n",
    "        K3 = 32\n",
    "        self.conv3 = nn.Conv2d(K2, K3, kernel_size=F, stride=S)\n",
    "        self.bn3 = nn.BatchNorm2d(K3)\n",
    "\n",
    "        h3 = conv_output_size(h2, F, S)\n",
    "        w3 = conv_output_size(w2, F, S)\n",
    "\n",
    "        linear_input_size = h3 * w3 * 32\n",
    "        self.head = nn.Linear(linear_input_size, outputs)\n",
    "\n",
    "    def forward(self, x):\n",
    "        x = F.relu(self.bn1(self.conv1(x)))\n",
    "        x = F.relu(self.bn2(self.conv2(x)))\n",
    "        x = F.relu(self.bn3(self.conv3(x)))\n",
    "        return self.head(x.view(x.size(0), -1))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [],
   "source": [
    "BATCH_SIZE = 128\n",
    "GAMMA = 0.999\n",
    "EPS_START = 0.9\n",
    "EPS_END = 0.05\n",
    "EPS_DECAY = 200\n",
    "TARGET_UPDATE = 10"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [],
   "source": [
    "frame = prepare_frame(env.render(mode=\"rgb_array\"))\n",
    "env.close()\n",
    "_, _, fheight, fwidth = frame.shape\n",
    "\n",
    "num_actions = env.action_space.n\n",
    "\n",
    "policy = DQN(fheight, fwidth, num_actions)\n",
    "policy_stable = DQN(fheight, fwidth, num_actions)\n",
    "policy_stable.load_state_dict(policy.state_dict())\n",
    "policy_stable.eval()\n",
    "\n",
    "optimizer = optim.RMSprop(policy.parameters())\n",
    "criterion = nn.SmoothL1Loss()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [],
   "source": [
    "def select_action(policy, state, step, num_actions):\n",
    "    eps_threshold = EPS_END + (EPS_START - EPS_END) * np.exp(-1.0 * step / EPS_DECAY)\n",
    "    step += 1\n",
    "    r = random.random()\n",
    "    if r > eps_threshold:\n",
    "        with torch.no_grad():\n",
    "            return policy(state).max(1)[1].view(1, 1)\n",
    "    else:\n",
    "        return torch.tensor([[random.randrange(num_actions)]], dtype=torch.long)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "tensor([[0]])"
      ]
     },
     "execution_count": 18,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "select_action(policy, state, 100, 2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [],
   "source": [
    "Transition = namedtuple(\"Transition\", (\"state\", \"action\", \"next_state\", \"reward\"))\n",
    "\n",
    "\n",
    "class ReplayMemory(object):\n",
    "    def __init__(self, capacity):\n",
    "        self.memory = deque([], maxlen=capacity)\n",
    "\n",
    "    def push(self, *args):\n",
    "        \"\"\"Save a transition\"\"\"\n",
    "        self.memory.append(Transition(*args))\n",
    "\n",
    "    def sample(self, batch_size):\n",
    "        return random.sample(self.memory, batch_size)\n",
    "\n",
    "    def __len__(self):\n",
    "        return len(self.memory)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [],
   "source": [
    "def optimize_model():\n",
    "    if len(memory) < BATCH_SIZE:\n",
    "        return\n",
    "\n",
    "    transitions = memory.sample(BATCH_SIZE)\n",
    "    batch = Transition(*zip(*transitions))\n",
    "\n",
    "    non_final_mask = torch.tensor(\n",
    "        tuple(map(lambda s: s is not None, batch.next_state)), dtype=torch.bool\n",
    "    )\n",
    "\n",
    "    non_final_next_states = torch.cat([s for s in batch.next_state if s is not None])\n",
    "    state_batch = torch.cat(batch.state)\n",
    "    action_batch = torch.cat(batch.action)\n",
    "    reward_batch = torch.cat(batch.reward)\n",
    "\n",
    "    state_action_values = policy(state_batch).gather(1, action_batch)\n",
    "\n",
    "    next_state_values = torch.zeros(BATCH_SIZE)\n",
    "    next_state_values[non_final_mask] = (\n",
    "        policy_stable(non_final_next_states).max(1)[0].detach()\n",
    "    )\n",
    "    expected_state_action_values = (next_state_values * GAMMA) + reward_batch\n",
    "    loss = criterion(state_action_values, expected_state_action_values.unsqueeze(1))\n",
    "\n",
    "    optimizer.zero_grad()\n",
    "    loss.backward()\n",
    "    for param in policy.parameters():\n",
    "        param.grad.data.clamp_(-1, 1)\n",
    "\n",
    "    print(loss.item())\n",
    "    optimizer.step()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Training the Policy NN"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "    <div>\n",
       "        <style>\n",
       "            /* Turns off some styling */\n",
       "            progress {\n",
       "                /* gets rid of default border in Firefox and Opera. */\n",
       "                border: none;\n",
       "                /* Needs to be in here for Safari polyfill so background images work as expected. */\n",
       "                background-size: auto;\n",
       "            }\n",
       "            .progress-bar-interrupted, .progress-bar-interrupted::-webkit-progress-bar {\n",
       "                background: #F44336;\n",
       "            }\n",
       "        </style>\n",
       "      <progress value='12' class='' max='12' style='width:300px; height:20px; vertical-align: middle;'></progress>\n",
       "      100.00% [12/12 00:02<00:00]\n",
       "    </div>\n",
       "    "
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Starting episode 0\n",
      "Starting episode 1\n",
      "Starting episode 2\n",
      "Starting episode 3\n",
      "0.3099634051322937\n",
      "0.24760103225708008\n",
      "0.2874079942703247\n",
      "0.20894905924797058\n",
      "0.2138880491256714\n",
      "0.16987518966197968\n",
      "0.17039135098457336\n",
      "0.1618742048740387\n",
      "0.17454886436462402\n",
      "0.15587443113327026\n",
      "0.15409131348133087\n",
      "0.12807349860668182\n",
      "0.13378646969795227\n",
      "0.11467007547616959\n",
      "0.10835824906826019\n",
      "0.10812241584062576\n",
      "0.09450189024209976\n",
      "0.10471732914447784\n",
      "0.13406509160995483\n",
      "0.15406866371631622\n",
      "0.17494799196720123\n",
      "0.16970717906951904\n",
      "0.17601004242897034\n",
      "0.1624910533428192\n",
      "0.24142958223819733\n",
      "0.16812294721603394\n",
      "0.17378409206867218\n",
      "Starting episode 4\n",
      "0.15892191231250763\n",
      "0.17068730294704437\n",
      "0.14158441126346588\n",
      "0.1383088231086731\n",
      "0.1438751220703125\n",
      "0.17097793519496918\n",
      "0.19394339621067047\n",
      "0.22507017850875854\n",
      "0.14481870830059052\n",
      "Starting episode 5\n",
      "0.13383589684963226\n",
      "0.11992578208446503\n",
      "0.1184341236948967\n",
      "0.1060984879732132\n",
      "0.12017709761857986\n",
      "0.11992381513118744\n",
      "0.12152375280857086\n",
      "0.08761933445930481\n",
      "0.10136543214321136\n",
      "0.11129112541675568\n",
      "0.17887932062149048\n",
      "0.20078253746032715\n",
      "Starting episode 6\n",
      "0.17470131814479828\n",
      "0.12268820405006409\n",
      "0.13118299841880798\n",
      "0.12657351791858673\n",
      "0.13375906646251678\n",
      "0.09691326320171356\n",
      "0.10202538222074509\n",
      "0.11094881594181061\n",
      "0.14076003432273865\n",
      "0.2154473215341568\n",
      "0.14669269323349\n",
      "0.1616797000169754\n",
      "0.11780354380607605\n",
      "0.11765298992395401\n",
      "0.14895375072956085\n",
      "0.2338191568851471\n",
      "0.23404747247695923\n",
      "Starting episode 7\n",
      "0.29511237144470215\n",
      "0.11949826031923294\n",
      "0.1038854569196701\n",
      "0.08517821878194809\n",
      "0.09270240366458893\n",
      "0.10642627626657486\n",
      "0.12054925411939621\n",
      "0.1714235097169876\n",
      "0.21677830815315247\n",
      "0.15779995918273926\n",
      "0.16797257959842682\n",
      "0.11041989922523499\n",
      "0.0874762162566185\n",
      "0.09293659776449203\n",
      "0.10263881832361221\n",
      "0.19764402508735657\n",
      "0.23927682638168335\n",
      "Starting episode 8\n",
      "0.111823171377182\n",
      "0.12205442786216736\n",
      "0.13687732815742493\n",
      "0.19439154863357544\n",
      "0.11334320902824402\n",
      "0.1216747835278511\n",
      "0.08007826656103134\n",
      "0.10938304662704468\n",
      "0.11221962422132492\n",
      "0.11160703748464584\n",
      "0.08122890442609787\n",
      "0.08940310776233673\n",
      "0.0957140326499939\n",
      "0.13326548039913177\n",
      "0.11533039808273315\n",
      "0.14052033424377441\n",
      "0.1315641850233078\n",
      "0.12396805733442307\n",
      "0.08834049850702286\n",
      "0.08071890473365784\n",
      "Starting episode 9\n",
      "0.08865431696176529\n",
      "0.08851096034049988\n",
      "0.08289710432291031\n",
      "0.09128446131944656\n",
      "0.11805717647075653\n",
      "0.13541434705257416\n",
      "0.1468595564365387\n",
      "0.11750783771276474\n",
      "0.08072835952043533\n",
      "0.10052508115768433\n",
      "0.1297672837972641\n",
      "Starting episode 10\n",
      "0.11839081346988678\n",
      "0.1243317723274231\n",
      "0.11848697066307068\n",
      "0.283305287361145\n",
      "0.1761361062526703\n",
      "0.18706069886684418\n",
      "0.1595430076122284\n",
      "0.25524193048477173\n",
      "0.14946050941944122\n",
      "0.16191597282886505\n",
      "0.1350366622209549\n",
      "0.1337558776140213\n",
      "0.10725364834070206\n",
      "0.10490776598453522\n",
      "Starting episode 11\n",
      "1.0925636291503906\n",
      "0.1614702194929123\n",
      "0.2562653124332428\n",
      "0.17097589373588562\n",
      "0.2422979474067688\n",
      "0.44666802883148193\n",
      "1.121412992477417\n",
      "0.22295698523521423\n",
      "0.23654234409332275\n",
      "0.3548949360847473\n",
      "Complete\n"
     ]
    }
   ],
   "source": [
    "num_episodes = 12\n",
    "step = 0\n",
    "\n",
    "memory = ReplayMemory(10000)\n",
    "\n",
    "for episode in progress_bar(range(num_episodes)):\n",
    "\n",
    "    env.reset()\n",
    "    prev_frame = prepare_frame(env.render(mode=\"rgb_array\"))\n",
    "    curr_frame = prev_frame\n",
    "    state = curr_frame - prev_frame\n",
    "\n",
    "    print(\"Starting episode\", episode)\n",
    "\n",
    "    for t in count():\n",
    "\n",
    "        action = select_action(policy, state, step, num_actions)\n",
    "\n",
    "        _, reward, complete, _ = env.step(action.item())\n",
    "\n",
    "        reward = torch.tensor([reward])\n",
    "\n",
    "        # Observe new state\n",
    "        prev_frame = curr_frame\n",
    "        curr_frame = prepare_frame(env.render(mode=\"rgb_array\"))\n",
    "\n",
    "        # Treat the final state differently\n",
    "        if not complete:\n",
    "            next_state = curr_frame - prev_frame\n",
    "        else:\n",
    "            next_state = None\n",
    "\n",
    "        # Store the transition in memory\n",
    "        memory.push(state, action, next_state, reward)\n",
    "\n",
    "        # Move to the next state\n",
    "        state = next_state\n",
    "\n",
    "        optimize_model()\n",
    "\n",
    "        if complete:\n",
    "            break\n",
    "\n",
    "    # Update the stable network, copying all weights and biases in DQN\n",
    "    if episode % TARGET_UPDATE == 0:\n",
    "        policy_stable.load_state_dict(policy.state_dict())\n",
    "\n",
    "print(\"Complete\")\n",
    "env.close()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Viewing Results"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Stopping after 9 steps.\n"
     ]
    }
   ],
   "source": [
    "env.reset()\n",
    "prev_frame = prepare_frame(env.render(mode=\"rgb_array\"))\n",
    "curr_frame = prev_frame\n",
    "state = curr_frame - prev_frame\n",
    "\n",
    "frames = [curr_frame]\n",
    "\n",
    "for t in count():\n",
    "\n",
    "    with torch.no_grad():\n",
    "        action = policy(state).max(1)[1].view(1, 1).item()\n",
    "\n",
    "    obs, reward, complete, info = env.step(action)\n",
    "\n",
    "    # Observe new state\n",
    "    prev_frame = curr_frame\n",
    "    curr_frame = prepare_frame(env.render(mode=\"rgb_array\"))\n",
    "    frames.append(curr_frame)\n",
    "    \n",
    "    if complete:\n",
    "        print(f\"Stopping after {t} steps.\")\n",
    "        break\n",
    "\n",
    "env.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "<link rel=\"stylesheet\"\n",
       "href=\"https://maxcdn.bootstrapcdn.com/font-awesome/4.4.0/css/font-awesome.min.css\">\n",
       "<script language=\"javascript\">\n",
       "  function isInternetExplorer() {\n",
       "    ua = navigator.userAgent;\n",
       "    /* MSIE used to detect old browsers and Trident used to newer ones*/\n",
       "    return ua.indexOf(\"MSIE \") > -1 || ua.indexOf(\"Trident/\") > -1;\n",
       "  }\n",
       "\n",
       "  /* Define the Animation class */\n",
       "  function Animation(frames, img_id, slider_id, interval, loop_select_id){\n",
       "    this.img_id = img_id;\n",
       "    this.slider_id = slider_id;\n",
       "    this.loop_select_id = loop_select_id;\n",
       "    this.interval = interval;\n",
       "    this.current_frame = 0;\n",
       "    this.direction = 0;\n",
       "    this.timer = null;\n",
       "    this.frames = new Array(frames.length);\n",
       "\n",
       "    for (var i=0; i<frames.length; i++)\n",
       "    {\n",
       "     this.frames[i] = new Image();\n",
       "     this.frames[i].src = frames[i];\n",
       "    }\n",
       "    var slider = document.getElementById(this.slider_id);\n",
       "    slider.max = this.frames.length - 1;\n",
       "    if (isInternetExplorer()) {\n",
       "        // switch from oninput to onchange because IE <= 11 does not conform\n",
       "        // with W3C specification. It ignores oninput and onchange behaves\n",
       "        // like oninput. In contrast, Microsoft Edge behaves correctly.\n",
       "        slider.setAttribute('onchange', slider.getAttribute('oninput'));\n",
       "        slider.setAttribute('oninput', null);\n",
       "    }\n",
       "    this.set_frame(this.current_frame);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.get_loop_state = function(){\n",
       "    var button_group = document[this.loop_select_id].state;\n",
       "    for (var i = 0; i < button_group.length; i++) {\n",
       "        var button = button_group[i];\n",
       "        if (button.checked) {\n",
       "            return button.value;\n",
       "        }\n",
       "    }\n",
       "    return undefined;\n",
       "  }\n",
       "\n",
       "  Animation.prototype.set_frame = function(frame){\n",
       "    this.current_frame = frame;\n",
       "    document.getElementById(this.img_id).src =\n",
       "            this.frames[this.current_frame].src;\n",
       "    document.getElementById(this.slider_id).value = this.current_frame;\n",
       "  }\n",
       "\n",
       "  Animation.prototype.next_frame = function()\n",
       "  {\n",
       "    this.set_frame(Math.min(this.frames.length - 1, this.current_frame + 1));\n",
       "  }\n",
       "\n",
       "  Animation.prototype.previous_frame = function()\n",
       "  {\n",
       "    this.set_frame(Math.max(0, this.current_frame - 1));\n",
       "  }\n",
       "\n",
       "  Animation.prototype.first_frame = function()\n",
       "  {\n",
       "    this.set_frame(0);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.last_frame = function()\n",
       "  {\n",
       "    this.set_frame(this.frames.length - 1);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.slower = function()\n",
       "  {\n",
       "    this.interval /= 0.7;\n",
       "    if(this.direction > 0){this.play_animation();}\n",
       "    else if(this.direction < 0){this.reverse_animation();}\n",
       "  }\n",
       "\n",
       "  Animation.prototype.faster = function()\n",
       "  {\n",
       "    this.interval *= 0.7;\n",
       "    if(this.direction > 0){this.play_animation();}\n",
       "    else if(this.direction < 0){this.reverse_animation();}\n",
       "  }\n",
       "\n",
       "  Animation.prototype.anim_step_forward = function()\n",
       "  {\n",
       "    this.current_frame += 1;\n",
       "    if(this.current_frame < this.frames.length){\n",
       "      this.set_frame(this.current_frame);\n",
       "    }else{\n",
       "      var loop_state = this.get_loop_state();\n",
       "      if(loop_state == \"loop\"){\n",
       "        this.first_frame();\n",
       "      }else if(loop_state == \"reflect\"){\n",
       "        this.last_frame();\n",
       "        this.reverse_animation();\n",
       "      }else{\n",
       "        this.pause_animation();\n",
       "        this.last_frame();\n",
       "      }\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.anim_step_reverse = function()\n",
       "  {\n",
       "    this.current_frame -= 1;\n",
       "    if(this.current_frame >= 0){\n",
       "      this.set_frame(this.current_frame);\n",
       "    }else{\n",
       "      var loop_state = this.get_loop_state();\n",
       "      if(loop_state == \"loop\"){\n",
       "        this.last_frame();\n",
       "      }else if(loop_state == \"reflect\"){\n",
       "        this.first_frame();\n",
       "        this.play_animation();\n",
       "      }else{\n",
       "        this.pause_animation();\n",
       "        this.first_frame();\n",
       "      }\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.pause_animation = function()\n",
       "  {\n",
       "    this.direction = 0;\n",
       "    if (this.timer){\n",
       "      clearInterval(this.timer);\n",
       "      this.timer = null;\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.play_animation = function()\n",
       "  {\n",
       "    this.pause_animation();\n",
       "    this.direction = 1;\n",
       "    var t = this;\n",
       "    if (!this.timer) this.timer = setInterval(function() {\n",
       "        t.anim_step_forward();\n",
       "    }, this.interval);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.reverse_animation = function()\n",
       "  {\n",
       "    this.pause_animation();\n",
       "    this.direction = -1;\n",
       "    var t = this;\n",
       "    if (!this.timer) this.timer = setInterval(function() {\n",
       "        t.anim_step_reverse();\n",
       "    }, this.interval);\n",
       "  }\n",
       "</script>\n",
       "\n",
       "<style>\n",
       ".animation {\n",
       "    display: inline-block;\n",
       "    text-align: center;\n",
       "}\n",
       "input[type=range].anim-slider {\n",
       "    width: 374px;\n",
       "    margin-left: auto;\n",
       "    margin-right: auto;\n",
       "}\n",
       ".anim-buttons {\n",
       "    margin: 8px 0px;\n",
       "}\n",
       ".anim-buttons button {\n",
       "    padding: 0;\n",
       "    width: 36px;\n",
       "}\n",
       ".anim-state label {\n",
       "    margin-right: 8px;\n",
       "}\n",
       ".anim-state input {\n",
       "    margin: 0;\n",
       "    vertical-align: middle;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div class=\"animation\">\n",
       "  <img id=\"_anim_imgba2b6396b4ea4644bdf3706d32bd4045\">\n",
       "  <div class=\"anim-controls\">\n",
       "    <input id=\"_anim_sliderba2b6396b4ea4644bdf3706d32bd4045\" type=\"range\" class=\"anim-slider\"\n",
       "           name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n",
       "           oninput=\"animba2b6396b4ea4644bdf3706d32bd4045.set_frame(parseInt(this.value));\"></input>\n",
       "    <div class=\"anim-buttons\">\n",
       "      <button title=\"Decrease speed\" aria-label=\"Decrease speed\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.slower()\">\n",
       "          <i class=\"fa fa-minus\"></i></button>\n",
       "      <button title=\"First frame\" aria-label=\"First frame\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.first_frame()\">\n",
       "        <i class=\"fa fa-fast-backward\"></i></button>\n",
       "      <button title=\"Previous frame\" aria-label=\"Previous frame\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.previous_frame()\">\n",
       "          <i class=\"fa fa-step-backward\"></i></button>\n",
       "      <button title=\"Play backwards\" aria-label=\"Play backwards\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.reverse_animation()\">\n",
       "          <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
       "      <button title=\"Pause\" aria-label=\"Pause\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.pause_animation()\">\n",
       "          <i class=\"fa fa-pause\"></i></button>\n",
       "      <button title=\"Play\" aria-label=\"Play\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.play_animation()\">\n",
       "          <i class=\"fa fa-play\"></i></button>\n",
       "      <button title=\"Next frame\" aria-label=\"Next frame\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.next_frame()\">\n",
       "          <i class=\"fa fa-step-forward\"></i></button>\n",
       "      <button title=\"Last frame\" aria-label=\"Last frame\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.last_frame()\">\n",
       "          <i class=\"fa fa-fast-forward\"></i></button>\n",
       "      <button title=\"Increase speed\" aria-label=\"Increase speed\" onclick=\"animba2b6396b4ea4644bdf3706d32bd4045.faster()\">\n",
       "          <i class=\"fa fa-plus\"></i></button>\n",
       "    </div>\n",
       "    <form title=\"Repetition mode\" aria-label=\"Repetition mode\" action=\"#n\" name=\"_anim_loop_selectba2b6396b4ea4644bdf3706d32bd4045\"\n",
       "          class=\"anim-state\">\n",
       "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_ba2b6396b4ea4644bdf3706d32bd4045\"\n",
       "             >\n",
       "      <label for=\"_anim_radio1_ba2b6396b4ea4644bdf3706d32bd4045\">Once</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_ba2b6396b4ea4644bdf3706d32bd4045\"\n",
       "             checked>\n",
       "      <label for=\"_anim_radio2_ba2b6396b4ea4644bdf3706d32bd4045\">Loop</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_ba2b6396b4ea4644bdf3706d32bd4045\"\n",
       "             >\n",
       "      <label for=\"_anim_radio3_ba2b6396b4ea4644bdf3706d32bd4045\">Reflect</label>\n",
       "    </form>\n",
       "  </div>\n",
       "</div>\n",
       "\n",
       "\n",
       "<script language=\"javascript\">\n",
       "  /* Instantiate the Animation class. */\n",
       "  /* The IDs given should match those used in the template above. */\n",
       "  (function() {\n",
       "    var img_id = \"_anim_imgba2b6396b4ea4644bdf3706d32bd4045\";\n",
       "    var slider_id = \"_anim_sliderba2b6396b4ea4644bdf3706d32bd4045\";\n",
       "    var loop_select_id = \"_anim_loop_selectba2b6396b4ea4644bdf3706d32bd4045\";\n",
       "    var frames = new Array(11);\n",
       "    \n",
       "  frames[0] = \"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAbAAAAEgCAYAAADVKCZpAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90\\\n",
       "bGliIHZlcnNpb24zLjUuMSwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy/YYfK9AAAACXBIWXMAAAsT\\\n",
       "AAALEwEAmpwYAAAPuElEQVR4nO3db2xd9X3H8c8nTpx/QP4sJvIIwiACLUKQdFYaYJo6UlBWTU0f\\\n",
       "rBJIHRFCzROqwVZpC5u0iWdMm6rtQTUpGrTRWqViKRsRqlZCKKo6VRSHQus0DWHjX4abmEJCGsBx\\\n",
       "7O8e3JPg4zqJE/D9ne/N+yVdnfM7x3Y+urmXj3/ndzlxRAgAgGxmlQ4AAMD5oMAAAClRYACAlCgw\\\n",
       "AEBKFBgAICUKDACQEgUGAEiJAgMApESBAQBSosAAAClRYACAlCgwAEBKFBgAICUKDACQEgUGAEiJ\\\n",
       "AgMApESBAQBSosAAAClRYACAlCgwAEBKFBgAICUKDACQEgUGAEiJAgMApESBAQBSosAAAClRYACA\\\n",
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       "+d7O/Tip8puj3cV/v/+UtDx3piLXQknHJC2tOZb7sXpMlR/Odkv6V0ktuTNF/eCVOAAAIdXrJUQA\\\n",
       "QJ2jwAAAIVFgAICQKDAAQEgUGAAgJAoMABASBQYACIkCAwCERIEBAEKiwAAAIVFgAICQKDAAQEgU\\\n",
       "GAAgJAoMABASBQYACIkCAwCERIEBAEKiwAAAIVFgAICQKDAAQEgUGAAgJAoMABASBQYACIkCAwCE\\\n",
       "RIEBAEKiwAAAIVFgAICQKDAAQEgUGAAgJAoMABASBQYACIkCAwCERIEBAEKiwAAAIVFgAICQKDAA\\\n",
       "QEgUGAAgJAoMABASBQYACIkCAwCERIEBAEKiwAAAIVFgAICQKDAAQEgUGAAgJAoMABASBQYACIkC\\\n",
       "AwCERIEBAEKiwAAAIVFgAICQKDAAQEgUGAAgJAoMABDS/wHv0NZvCV1ArAAAAABJRU5ErkJggg==\\\n",
       "\"\n",
       "\n",
       "\n",
       "    /* set a timeout to make sure all the above elements are created before\n",
       "       the object is initialized. */\n",
       "    setTimeout(function() {\n",
       "        animba2b6396b4ea4644bdf3706d32bd4045 = new Animation(frames, img_id, slider_id, 200.0,\n",
       "                                 loop_select_id);\n",
       "    }, 0);\n",
       "  })()\n",
       "</script>\n"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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73ilpYwu3P5aNktYX4/Wq9KBbxrYl/VjSjoj4UTvkZbvH9vxiPFOVHf3tMnOKiIciYllELFdlH3ohIr5XZk62Z9uee2asSv90W5k5RcTHkvbYvqpYdKukt8rMqc5dOts+kcrNa7ekG23PKn4Pb1XlC992+azOr5UNd0nfkvSupN9K+tuyGv+q7Dj9kkZVmancK+lSVb4Y21k8L2xxTr+vSkvpN5K2Fo9vlZmXpGslvV7ktE3SD4vlpX5WNfndorNfYpb5OX1J0hvFY/uZfbvsz0mVI4f6in+//5K0oOycirxmSTooaV7NsrI/q4dVmZxsk/RvkmaUnVMjD87EBIBMcSYmAGSKAg4AmaKAA0CmKOAAkCkKOABkigIOAJmigANApijgAJCp/webd1wB5GKTwAAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig = plt.figure()\n",
    "camera = Camera(fig)\n",
    "\n",
    "for frame in frames:\n",
    "    plt.imshow(frame.squeeze().permute(1, 2, 0))\n",
    "    camera.snap()\n",
    "\n",
    "animation = camera.animate()\n",
    "HTML(animation.to_jshtml())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "jupytext": {
   "formats": "ipynb,py:percent"
  },
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.9.9"
  },
  "toc": {
   "base_numbering": 1,
   "nav_menu": {},
   "number_sections": true,
   "sideBar": true,
   "skip_h1_title": true,
   "title_cell": "Table of Contents",
   "title_sidebar": "Contents",
   "toc_cell": true,
   "toc_position": {},
   "toc_section_display": true,
   "toc_window_display": false
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}