# Source code for rl_coach.exploration_policies.bootstrapped

    #
    # Copyright (c) 2017 Intel Corporation
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #      http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
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    from typing import List

    import numpy as np

    from rl_coach.core_types import RunPhase, ActionType
    from rl_coach.exploration_policies.additive_noise import AdditiveNoiseParameters
    from rl_coach.exploration_policies.e_greedy import EGreedy, EGreedyParameters
    from rl_coach.exploration_policies.exploration_policy import ExplorationParameters
    from rl_coach.schedules import Schedule, LinearSchedule
    from rl_coach.spaces import ActionSpace

    class BootstrappedParameters(EGreedyParameters):
        def __init__(self):
            super().__init__()
            self.architecture_num_q_heads = 10
            self.bootstrapped_data_sharing_probability = 1.0
            self.epsilon_schedule = LinearSchedule(1, 0.01, 1000000)

        @property
        def path(self):
            return 'rl_coach.exploration_policies.bootstrapped:Bootstrapped'

    class Bootstrapped(EGreedy):
        """
        Bootstrapped exploration policy is currently only used for discrete action spaces along with the
        Bootstrapped DQN agent. It assumes that there is an ensemble of network heads, where each one predicts the
        values for all the possible actions. For each episode, a single head is selected to lead the agent, according
        to its value predictions. In evaluation, the action is selected using a majority vote over all the heads
        predictions.

        .. note::
           This exploration policy will only work for Discrete action spaces with Bootstrapped DQN style agents,
           since it requires the agent to have a network with multiple heads.
        """
        def __init__(self, action_space: ActionSpace, epsilon_schedule: Schedule, evaluation_epsilon: float,
                     architecture_num_q_heads: int,
                     continuous_exploration_policy_parameters: ExplorationParameters = AdditiveNoiseParameters(),):
            """
            :param action_space: the action space used by the environment
            :param epsilon_schedule: a schedule for the epsilon values
            :param evaluation_epsilon: the epsilon value to use for evaluation phases
            :param continuous_exploration_policy_parameters: the parameters of the continuous exploration policy to use
                                                             if the e-greedy is used for a continuous policy
            :param architecture_num_q_heads: the number of q heads to select from
            """
            super().__init__(action_space, epsilon_schedule, evaluation_epsilon, continuous_exploration_policy_parameters)
            self.num_heads = architecture_num_q_heads
            self.selected_head = 0
            self.last_action_values = 0

        def select_head(self):
            self.selected_head = np.random.randint(self.num_heads)

        def get_action(self, action_values: List[ActionType]) -> ActionType:
            # action values are none in case the exploration policy is going to select a random action
            if action_values is not None:
                if self.phase == RunPhase.TRAIN:
                    action_values = action_values[self.selected_head]
                else:
                    # ensemble voting for evaluation
                    top_action_votings = np.argmax(action_values, axis=-1)
                    counts = np.bincount(top_action_votings.squeeze())
                    top_action = np.argmax(counts)
                    # convert the top action to a one hot vector and pass it to e-greedy
                    action_values = np.eye(len(self.action_space.actions))[[top_action]]
            self.last_action_values = action_values
            return super().get_action(action_values)

        def get_control_param(self):
            return self.selected_head