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RL utility function exponentially_weighted_average for Calculating sum of discounted future reward or TD(lambda)
import numpy as np
def exponentially_weighted_matrix(discount, mat_len):
DisMat = np.triu(np.ones((mat_len, mat_len)) * discount, k=1)
DisMat[DisMat==0] = 1
DisMat = np.cumprod(DisMat, axis=1)
DisMat = np.triu(DisMat)
return DisMat
def exponentially_weighted_cumsum(discount, np_data):
DisMat = exponentially_weighted_matrix(discount, np_data.shape[0])
value =, np_data.reshape(-1, 1))
return value[::-1].transpose()[0]
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