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# define the number of buckets for each state value (x, x', theta, theta')
buckets = (1, 1, 6, 12)
# define upper and lower bounds for each state value
upper_bounds = [
env.observation_space.high[0],
0.5,
env.observation_space.high[2],
math.radians(50)
]
lower_bounds = [
env.observation_space.low[0],
-0.5,
env.observation_space.low[2],
-math.radians(50)]
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