Q-learning with neural networks.ipynb

{
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  {
   "cell_type": "code",
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   "outputs": [],
   "source": [
    "import numpy as np\n",
    "%matplotlib notebook\n",
    "import matplotlib.pyplot as plt\n",
    "import copy, time\n",
    "from core.envs.grid_world import *\n",
    "from core.rl_utils import *"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Create a Neural Network"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "class Neural_Network():\n",
    "    def __init__(self, n1=10, n2=10, lr=0.01, input_dim=2, output_dim=4):        \n",
    "        self.input_dim = input_dim         # Input dimension\n",
    "        self.output_dim = output_dim       # Output dimension\n",
    "        self.learning_rate = lr            # Learning rate for SGD\n",
    "        \n",
    "        self.n1 = n1                       # Number of neurons in layer 1\n",
    "        self.n2 = n2                       # Number of neurons in layer 2\n",
    "        self.n3 = self.output_dim          # Number of neurons in layer 3\n",
    "        \n",
    "        # Initialization: weights and biases of layer 1 (Xavier-Initialization)\n",
    "        fan_in = 1/np.sqrt(self.input_dim)\n",
    "        self.W1 = 2*fan_in*np.random.random((self.n1, self.input_dim)) - fan_in\n",
    "        self.b1 = 2*fan_in*np.random.random((self.n1, 1)) - fan_in\n",
    "        \n",
    "        # Initialization: weights and biases of layer 2 (Xavier-Initialization)\n",
    "        fan_in = 1/np.sqrt(self.n1)\n",
    "        self.W2 = 2*fan_in*np.random.random((self.n2, self.n1)) - fan_in\n",
    "        self.b2 = 2*fan_in*np.random.random((self.n2, 1)) - fan_in\n",
    "        \n",
    "        # Initialization: weights and biases of layer 3 (Xavier-Initialization)\n",
    "        fan_in = 1/np.sqrt(self.n2)\n",
    "        self.W3 = 2*fan_in*np.random.random((self.n3, self.n2)) - fan_in\n",
    "        self.b3 = 2*fan_in*np.random.random((self.n3, 1)) - fan_in\n",
    "        \n",
    "    def loss(self, y, y_star, compute_derivative=False):\n",
    "        l = 0.5*(y_star - y)**2        # MSE criterion\n",
    "        dldy = 0                       # Default derivative\n",
    "        if(compute_derivative):\n",
    "            dldy = -(y_star - y)       # Derivative computation\n",
    "        return l, dldy\n",
    "\n",
    "    def f2(self, q, compute_derivative=False): # Activation function of layer 2\n",
    "        y = q                                  # Linear function\n",
    "        dydq = 0                               # Default derivative\n",
    "        if(compute_derivative):\n",
    "            dydq = np.ones_like(q)             # Derivative computation\n",
    "        return y, dydq\n",
    "        \n",
    "    def f1(self, q, compute_derivative=False): # Activation function of layer 1\n",
    "        th = (q > 0).astype(float)             # Threshold \n",
    "        y = q*th                               # Relu function\n",
    "        dydq = 0                               # Default derivative\n",
    "        if(compute_derivative):\n",
    "            dydq = th                          # Derivative computation\n",
    "        return y, dydq\n",
    "\n",
    "    def forward_pass(self, X, track_derivatives=False):\n",
    "        self.X_in = X.reshape(self.input_dim, -1)         # Check shape\n",
    "        self.ones_batch = np.ones((self.X_in.shape[1], 1))# Vector with |batch_size| ones\n",
    "        \n",
    "        # Forward computations of layer 1        \n",
    "        Q1 = np.dot(self.W1, self.X_in) + np.dot(self.b1, self.ones_batch.T)   \n",
    "        self.Y1, self.dY1dQ1 = self.f1(Q1, compute_derivative=track_derivatives)\n",
    "        \n",
    "        # Forward computations of layer 2\n",
    "        Q2 = np.dot(self.W2, self.Y1) + np.dot(self.b2, self.ones_batch.T)\n",
    "        self.Y2, self.dY2dQ2 = self.f1(Q2, compute_derivative=track_derivatives)\n",
    "        \n",
    "        # Forward computations of layer 2\n",
    "        Q3 = np.dot(self.W3, self.Y2) + np.dot(self.b3, self.ones_batch.T)\n",
    "        self.Y3, self.dY3dQ3 = self.f2(Q3, compute_derivative=track_derivatives)\n",
    "        \n",
    "        return self.Y3.copy() # Return the output of the network\n",
    "        \n",
    "    def compute_loss(self, Y, Y_star, track_derivatives=False):\n",
    "        Y_in = Y.reshape(self.output_dim, -1)                  # Check shape\n",
    "        Y_star_in = Y_star.reshape(self.output_dim, -1)        # Check shape\n",
    "        \n",
    "        L, self.dLdY3 = self.loss(Y_in, Y_star_in, compute_derivative=track_derivatives) # Loss\n",
    "        return L.sum(1) # Return the cumulative loss of the batch of data\n",
    "    \n",
    "    def backward_pass(self): # Must be called after forward_pass() and compute_loss()\n",
    "        Phi3 = self.dLdY3 * self.dY3dQ3 # Compute the Phi3 matrix      \n",
    "        dLdY2 = np.dot(self.W3.T, Phi3) # Compute the dLdY2 matrix\n",
    "        Phi2 = dLdY2 * self.dY2dQ2      # Compute the Phi2 matrix      \n",
    "        dLdY1 = np.dot(self.W2.T, Phi2) # Compute the dLdY1 matrix\n",
    "        Phi1 = dLdY1 * self.dY1dQ1      # Compute the Phi1 matrix\n",
    "        \n",
    "        self.dLdW1 = np.dot(Phi1, self.X_in.T)     # Compute derivatives of L w.r.t W1\n",
    "        self.dLdb1 = np.dot(Phi1, self.ones_batch) # Compute derivatives of L w.r.t. b1\n",
    "        self.dLdW2 = np.dot(Phi2, self.Y1.T)       # Compute derivatives of L w.r.t. W2\n",
    "        self.dLdb2 = np.dot(Phi2, self.ones_batch) # Compute derivatives of L w.r.t. b2\n",
    "        self.dLdW3 = np.dot(Phi3, self.Y2.T)       # Compute derivatives of L w.r.t. W3\n",
    "        self.dLdb3 = np.dot(Phi3, self.ones_batch) # Compute derivatives of L w.r.t. b3\n",
    "        \n",
    "    def update_parameters(self): # Applies one gradient descent step to the parameters\n",
    "        batch_size = np.sum(self.ones_batch)                              # Compute batch_size\n",
    "        self.W1 = self.W1 - (self.learning_rate/batch_size) * self.dLdW1  # Update W1 using SGD\n",
    "        self.b1 = self.b1 - (self.learning_rate/batch_size) * self.dLdb1  # Update b1 using SGD\n",
    "        self.W2 = self.W2 - (self.learning_rate/batch_size) * self.dLdW2  # Update W2 using SGD\n",
    "        self.b2 = self.b2 - (self.learning_rate/batch_size) * self.dLdb2  # Update b2 using SGD\n",
    "        self.W3 = self.W3 - (self.learning_rate/batch_size) * self.dLdW3  # Update W3 using SGD\n",
    "        self.b3 = self.b3 - (self.learning_rate/batch_size) * self.dLdb3  # Update b3 using SGD"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Train the DQN agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
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       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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\" width=\"1000\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Total training time:  30.2 seconds\n"
     ]
    }
   ],
   "source": [
    "np.random.seed(123)       # For reproducibility\n",
    "\n",
    "env = Grid_World()        # Instance of the environment\n",
    "buffer = Replay_Buffer()  # Instance of the replay_buffer (to record experiences)\n",
    "\n",
    "# Create an instance of the neural network\n",
    "net = Neural_Network(n1=10, n2=10, lr=0.05, input_dim=env.state_dim, output_dim=env.num_actions)\n",
    "\n",
    "target_net = copy.deepcopy(net) # Create the target network\n",
    "\n",
    "num_episodes = 1000             # Number of training episodes\n",
    "num_steps = 200                 # Number of steps per episode\n",
    "epsilon = 1.0                   # Initial exploration probability\n",
    "tau = 0.001                     # Soft-update learning rate\n",
    "gamma = 0.99                    # Discount factor\n",
    "min_memory = 1000               # Minimum experiences to collect before training\n",
    "batch_size = 64                 # Batch size\n",
    "\n",
    "total_steps_log = []            # Empty list to log number of steps per episode \n",
    "epsilon_log = []                # Empty list to log exploration probabilities\n",
    "\n",
    "initial_time = time.time()      # For comparison purposes\n",
    "\n",
    "for e in range(num_episodes):   # Loop over episodes\n",
    "    state = env.reset()         # Reset environment\n",
    "    state = state/7.0           # Normalize state [0, 1]\n",
    "    \n",
    "    for s in range(num_steps):  # Loop over steps\n",
    "        if(np.random.random() <= epsilon): # epsilon-greedy policy                    \n",
    "            action = np.random.randint(env.num_actions)\n",
    "        else:\n",
    "            action = np.argmax(net.forward_pass(state.reshape(-1, 1)))\n",
    "            \n",
    "        next_state, reward, done = env.step(action)  # Execute selected action\n",
    "        next_state = next_state/7.0                  # Normalize next state\n",
    "        \n",
    "        buffer.add(state, action, next_state, reward, done) # Record memory\n",
    "        \n",
    "        state = next_state   # Update state\n",
    "        \n",
    "        if(buffer.count >= min_memory):   # Neural network training\n",
    "            batch = buffer.sample_batch(batch_size) # Sample a batch of experiences\n",
    "\n",
    "            states = batch[:, :2]        # Select the states \n",
    "            actions = batch[:, 2]        # Select the actions \n",
    "            next_states = batch[:, 3:5]  # Select the next states \n",
    "            rewards = batch[:, 5]        # Select the rewards\n",
    "            dones = batch[:, -1]         # Select the termination flags\n",
    "            \n",
    "            # Forward pass over the DQN\n",
    "            Q_values = net.forward_pass(states.T, track_derivatives=True)\n",
    "            \n",
    "            # Forward pass over the target DQN\n",
    "            next_Q_values = target_net.forward_pass(next_states.T, track_derivatives=False)\n",
    "            targets = Q_values.copy()   # Set intial target values\n",
    "\n",
    "            # Set the actual target values\n",
    "            for i in range(batch_size): # This might be vectorized\n",
    "                targets[int(actions[i]), i] = rewards[i] + gamma * np.max(next_Q_values[:, i]) * (1 - dones[i])\n",
    "\n",
    "            net.compute_loss(Q_values, targets, track_derivatives=True) # Compute loss\n",
    "            net.backward_pass()      # Backward pass                \n",
    "            net.update_parameters()  # Update parameters of main network\n",
    "            \n",
    "            # Update parameters of target network (soft-updates)\n",
    "            target_net.W1 = tau*net.W1 + (1-tau)*target_net.W1\n",
    "            target_net.b1 = tau*net.b1 + (1-tau)*target_net.b1\n",
    "            target_net.W2 = tau*net.W2 + (1-tau)*target_net.W2\n",
    "            target_net.b2 = tau*net.b2 + (1-tau)*target_net.b2\n",
    "            target_net.W3 = tau*net.W3 + (1-tau)*target_net.W3\n",
    "            target_net.b3 = tau*net.b3 + (1-tau)*target_net.b3\n",
    "        \n",
    "        if(done): # Termination condition\n",
    "            break    \n",
    "\n",
    "    total_steps_log.append(s)     # Append total number of steps\n",
    "    epsilon_log.append(epsilon)   # Append exploration probability \n",
    "    epsilon = 0.999 * epsilon     # Exploration decay\n",
    "\n",
    "total_training_time = time.time() - initial_time # Total training time    \n",
    "    \n",
    "plt.figure(figsize=(10, 4))\n",
    "plt.subplot(121)\n",
    "plt.plot(total_steps_log)\n",
    "plt.xlabel('Episode')\n",
    "plt.ylabel('Total number of steps')\n",
    "\n",
    "plt.subplot(122)\n",
    "plt.plot(epsilon_log)\n",
    "plt.xlabel('Episode')\n",
    "plt.ylabel('Exploration probability');\n",
    "\n",
    "print('Total training time: ', np.round(total_training_time, 2), 'seconds')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Testing the trained agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/html": [
       "<img src=\"data:image/png;base64,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\" width=\"300\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "env = Grid_World()      # Create an instance of the environment\n",
    "\n",
    "for e in range(10):     # Loop over episodes\n",
    "    state = env.reset() # Reset environment\n",
    "\n",
    "    for s in range(30):     # Loop over steps\n",
    "        state = state/7.0   # State normalization\n",
    "        action = np.argmax(net.forward_pass(state.reshape(-1, 1))) # greedy policy\n",
    "        state, _, done = env.step(action)  # Execute selected action\n",
    "        env.render() # Render environment\n",
    "        \n",
    "        if(done):   # Termination condition\n",
    "            break\n",
    "        "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Visualizing the learned policy"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
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       "<IPython.core.display.Javascript object>"
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       "<IPython.core.display.HTML object>"
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     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "policy = np.zeros((8, 8))                                  # Initialize policy\n",
    "for i in range(8):                                         # Loop over rows\n",
    "    for j in range(8):                                     # Loop over columns\n",
    "        state = np.array([i, j])/7.0                       # Emulate the state\n",
    "        policy[i, j] = np.argmax(net.forward_pass(state))  # Save the policy's action\n",
    "\n",
    "# Plot learned policy\n",
    "plt.figure(figsize=(3,3))\n",
    "plt.imshow(policy,  vmin=0, vmax=3)\n",
    "\n",
    "# Plot color conventions\n",
    "plt.figure(figsize=(3,3))\n",
    "plt.imshow(np.arange(env.num_actions).reshape(1, -1));\n",
    "plt.yticks([])\n",
    "plt.xticks([0, 1, 2, 3], ['Up', 'Right', 'Down', 'Left']);"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Fully vectorized implementation\n",
    "\n",
    "#### Fully vectorized implementation of the targets.\n",
    "#### Added the update_frequency parameter so that the update frequency (per episode) of the neural networks can be modified.\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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\" width=\"1000\">"
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      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Total training time:  18.87 seconds\n"
     ]
    }
   ],
   "source": [
    "np.random.seed(123)       # For reproducibility\n",
    "\n",
    "env = Grid_World()        # Instance of the environment\n",
    "buffer = Replay_Buffer()  # Instance of the replay_buffer (to record experiences)\n",
    "\n",
    "# Create an instance of the neural network\n",
    "net = Neural_Network(n1=10, n2=10, lr=0.05, input_dim=env.state_dim, output_dim=env.num_actions)\n",
    "\n",
    "target_net = copy.deepcopy(net) # Create the target network\n",
    "\n",
    "num_episodes = 1000             # Number of training episodes\n",
    "num_steps = 200                 # Number of steps per episode\n",
    "epsilon = 1.0                   # Initial exploration probability\n",
    "tau = 0.001                     # Soft-update learning rate\n",
    "gamma = 0.99                    # Discount factor\n",
    "min_memory = 1000               # Minimum experiences to collect before training\n",
    "batch_size = 64                 # Batch size\n",
    "\n",
    "update_frequency = 1            # Frequency for neural networks update (default: at every step)\n",
    "\n",
    "aux_array = np.arange(batch_size) * env.num_actions  # Auxiliary array for vectorization\n",
    "\n",
    "total_steps_log = []            # Empty list to log number of steps per episode \n",
    "epsilon_log = []                # Empty list to log exploration probabilities\n",
    "\n",
    "initial_time = time.time()      # For comparison purposes\n",
    "\n",
    "for e in range(num_episodes):   # Loop over episodes\n",
    "    state = env.reset()         # Reset environment\n",
    "    state = state/7.0           # Normalize state [0, 1]\n",
    "    \n",
    "    for s in range(num_steps):  # Loop over steps\n",
    "        if(np.random.random() <= epsilon): # epsilon-greedy policy                    \n",
    "            action = np.random.randint(env.num_actions)\n",
    "        else:\n",
    "            action = np.argmax(net.forward_pass(state.reshape(-1, 1)))\n",
    "            \n",
    "        next_state, reward, done = env.step(action)  # Execute selected action\n",
    "        next_state = next_state/7.0                  # Normalize next state\n",
    "        \n",
    "        buffer.add(state, action, next_state, reward, done) # Record memory\n",
    "        \n",
    "        state = next_state   # Update state\n",
    "        \n",
    "        # Neural network training\n",
    "        if(buffer.count >= min_memory and s % update_frequency == 0):\n",
    "            batch = buffer.sample_batch(batch_size) # Sample a batch of experiences\n",
    "\n",
    "            states = batch[:, :2]        # Select the states \n",
    "            actions = batch[:, 2]        # Select the actions \n",
    "            next_states = batch[:, 3:5]  # Select the next states \n",
    "            rewards = batch[:, 5]        # Select the rewards\n",
    "            dones = batch[:, -1]         # Select the termination flags\n",
    "            \n",
    "            # Forward pass over the DQN\n",
    "            Q_values = net.forward_pass(states.T, track_derivatives=True)\n",
    "            \n",
    "            # Forward pass over the target DQN\n",
    "            next_Q_values = target_net.forward_pass(next_states.T, track_derivatives=False)\n",
    "            targets = Q_values.copy()   # Set intial target values\n",
    "            \n",
    "            # Set the actual target values (FULLY VECTORIZED)\n",
    "            ids = (actions + aux_array).astype(int)\n",
    "            targets = targets.reshape(-1, order='F')\n",
    "            targets[ids] = rewards + gamma * np.max(next_Q_values, axis=0) * (1 - dones)\n",
    "            targets = targets.reshape(env.num_actions, -1, order='F')\n",
    "\n",
    "            net.compute_loss(Q_values, targets, track_derivatives=True) # Compute loss\n",
    "            net.backward_pass()      # Backward pass                \n",
    "            net.update_parameters()  # Update parameters of main network\n",
    "            \n",
    "            # Update parameters of target network (soft-updates)\n",
    "            target_net.W1 = tau*net.W1 + (1-tau)*target_net.W1\n",
    "            target_net.b1 = tau*net.b1 + (1-tau)*target_net.b1\n",
    "            target_net.W2 = tau*net.W2 + (1-tau)*target_net.W2\n",
    "            target_net.b2 = tau*net.b2 + (1-tau)*target_net.b2\n",
    "            target_net.W3 = tau*net.W3 + (1-tau)*target_net.W3\n",
    "            target_net.b3 = tau*net.b3 + (1-tau)*target_net.b3\n",
    "        \n",
    "        if(done): # Termination condition\n",
    "            break    \n",
    "\n",
    "    total_steps_log.append(s)     # Append total number of steps\n",
    "    epsilon_log.append(epsilon)   # Append exploration probability \n",
    "    epsilon = np.maximum(0.999 * epsilon, 0.1)   # Exploration decay\n",
    "    \n",
    "total_training_time = time.time() - initial_time # Total training time  \n",
    "    \n",
    "plt.figure(figsize=(10, 4))\n",
    "plt.subplot(121)\n",
    "plt.plot(total_steps_log)\n",
    "plt.xlabel('Episode')\n",
    "plt.ylabel('Total number of steps')\n",
    "\n",
    "plt.subplot(122)\n",
    "plt.plot(epsilon_log)\n",
    "plt.xlabel('Episode')\n",
    "plt.ylabel('Exploration probability');\n",
    "\n",
    "print('Total training time: ', np.round(total_training_time, 2), 'seconds')"
   ]
  }
 ],
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