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def generate_problem(k):
    return np.random.normal(loc=0.0, scale=1, size=10)

def generate_reward(problem, action):
    return np.random.normal(loc=problem[action], scale=1)

def k_bandit(problem, k, steps, exploration_rate):
    Q = {i: 0 for i in range(k)} # 1. Value function
    N = {i: 0 for i in range(k)} # 2. Number of actions, for update rule
    

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def iterative_policy_evaluation(policy, theta=0.01, discount_rate=0.5):
    V_s = {i: 0 for i in range(16)} # 1.
    probablitiy_map = create_probability_map() # 2.

    delta = 100 # 3.
    while not delta < theta: # 4.
        delta = 0 # 5.
        for state in range(16): # 6.
            v = V_s[state] # 7.
            

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extension MapViewController: DJIVideoFeedListener {
    
    func videoFeed(_ videoFeed: DJIVideoFeed, didUpdateVideoData videoData: Data) {
        let data = NSData(data: videoData)
        var video = videoData
        video.withUnsafeMutableBytes { (pointer: UnsafeMutablePointer<UInt8>) in
            VideoPreviewer.instance().push(pointer, length: Int32(data.length))
        }
    }
}

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VideoPreviewer.instance().setView(videoPreview)
DJISDKManager.videoFeeder()?.primaryVideoFeed.add(self, with: nil)
VideoPreviewer.instance().start()

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@objc private func initializeMission() {

    // 1.
    if mission.points.count < 2 {
        print("Not enough waypoints")
        return
    }
    
    // 2.
    if let mission = djiMission {

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extension MapViewController: DJISDKManagerDelegate {
    
    func appRegisteredWithError(_ error: Error?) {
        if let error = error {
            print(error.localizedDescription)
        } else {
            DJISDKManager.startConnectionToProduct()
        }
    }
    

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DJISDKManager.registerApp(with: self)

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def double_Q_learning(env, episodes=100, step_size=0.01, exploration_rate=0.01):
    policy = utils.create_random_policy(env) # Create policy, just for the util function to create Q
    
    # 1. Initialize value dictionaries formated: { S1: { A1: 0.0, A2: 0.0, ...}, ...}
    Q_1 = create_state_action_dictionary(env, policy)
    Q_2 = create_state_action_dictionary(env, policy)

    # 2. Loop through the number of episodes
    for episode in range(episodes):
        env.reset() # Gym environment reset

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def Q_learning(env, episodes=100, step_size=0.01, exploration_rate=0.01):
    policy = utils.create_random_policy(env) # Create policy, just for the util function to create Q
    Q = create_state_action_dictionary(env, policy) # 1. Initialize value dictionary formated: { S1: { A1: 0.0, A2: 0.0, ...}, ...}
    
    # 2. Loop through the number of episodes
    for episode in range(episodes):
        env.reset() # Gym environment reset
        S = env.env.s # 3. Getting State
        finished = False
        

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def sarsa(env, episodes=100, step_size=0.01, exploration_rate=0.01):
    policy = utils.create_random_policy(env) # Create policy, just for the util function to create Q
    Q = create_state_action_dictionary(env, policy) # 1. Initialize value dictionary formated: { S1: { A1: 0.0, A2: 0.0, ...}, ...}
    
    # 2. Loop through the number of episodes
    for episode in range(episodes): 
        env.reset() # Gym environment reset
        S = env.env.s # 3. Getting State
        A = greedy_policy(Q)[S]  # 4. Deciding on first action
        finished = False