pyRDDLGym-jax 0.1__py3-none-any.whl → 0.2__py3-none-any.whl

pyRDDLGym_jax/core/simulator.py

@@ -1,6 +1,6 @@
 import jax
 import time
-from typing import Dict
+from typing import Dict, Optional
 
 from pyRDDLGym.core.compiler.model import RDDLLiftedModel
 from pyRDDLGym.core.debug.exception import (
@@ -20,9 +20,9 @@ Args = Dict[str, Value]
 class JaxRDDLSimulator(RDDLSimulator):
         
     def __init__(self, rddl: RDDLLiftedModel,
-                 key: jax.random.PRNGKey=None,
+                 key: Optional[jax.random.PRNGKey]=None,
                  raise_error: bool=True,
-                 logger: Logger=None,
+                 logger: Optional[Logger]=None,
                  keep_tensors: bool=False,
                  **compiler_args) -> None:
         '''Creates a new simulator for the given RDDL model with Jax as a backend.
@@ -56,10 +56,8 @@ class JaxRDDLSimulator(RDDLSimulator):
         rddl = self.rddl
         
         # compilation
-        if self.logger is not None:
-            self.logger.clear()
         compiled = JaxRDDLCompiler(rddl, logger=self.logger, **self.compiler_args)
-        compiled.compile(log_jax_expr=True)
+        compiled.compile(log_jax_expr=True, heading='SIMULATION MODEL')
         
         self.init_values = compiled.init_values
         self.levels = compiled.levels
@@ -96,7 +94,7 @@ class JaxRDDLSimulator(RDDLSimulator):
         self.precond_names = [f'Precondition {i}' for i in range(len(rddl.preconditions))]
         self.terminal_names = [f'Termination {i}' for i in range(len(rddl.terminations))]
         
-    def handle_error_code(self, error, msg) -> None:
+    def handle_error_code(self, error: int, msg: str) -> None:
         if self.raise_error:
             errors = JaxRDDLCompiler.get_error_messages(error)
             if errors:

pyRDDLGym_jax/core/tuning.py

@@ -8,7 +8,9 @@ from multiprocessing import get_context
 import numpy as np
 import os
 import time
-from typing import Callable, Dict, Tuple
+from typing import Any, Callable, Dict, Optional, Tuple
+
+Kwargs = Dict[str, Any]
 
 import warnings
 warnings.filterwarnings("ignore")
@@ -45,15 +47,15 @@ class JaxParameterTuning:
                  timeout_tuning: float=np.inf,
                  eval_trials: int=5,
                  verbose: bool=True,
-                 planner_kwargs: Dict={},
-                 plan_kwargs: Dict={},
+                 planner_kwargs: Optional[Kwargs]=None,
+                 plan_kwargs: Optional[Kwargs]=None,
                  pool_context: str='spawn',
                  num_workers: int=1,
                  poll_frequency: float=0.2,
                  gp_iters: int=25,
-                 acquisition=None,
-                 gp_init_kwargs: Dict={},
-                 gp_params: Dict={'n_restarts_optimizer': 10}) -> None:
+                 acquisition: Optional[UtilityFunction]=None,
+                 gp_init_kwargs: Optional[Kwargs]=None,
+                 gp_params: Optional[Kwargs]=None) -> None:
         '''Creates a new instance for tuning hyper-parameters for Jax planners
         on the given RDDL domain and instance.
         
@@ -93,13 +95,21 @@ class JaxParameterTuning:
         self.timeout_tuning = timeout_tuning
         self.eval_trials = eval_trials
         self.verbose = verbose
+        if planner_kwargs is None:
+            planner_kwargs = {}
         self.planner_kwargs = planner_kwargs
+        if plan_kwargs is None:
+            plan_kwargs = {}
         self.plan_kwargs = plan_kwargs
         self.pool_context = pool_context
         self.num_workers = num_workers
         self.poll_frequency = poll_frequency
         self.gp_iters = gp_iters
+        if gp_init_kwargs is None:
+            gp_init_kwargs = {}
         self.gp_init_kwargs = gp_init_kwargs
+        if gp_params is None:
+            gp_params = {'n_restarts_optimizer': 10}
         self.gp_params = gp_params
         
         # create acquisition function
@@ -109,7 +119,7 @@ class JaxParameterTuning:
             acquisition, self.acq_args = JaxParameterTuning._annealing_utility(num_samples)
         self.acquisition = acquisition
     
-    def summarize_hyperparameters(self):
+    def summarize_hyperparameters(self) -> None:
         print(f'hyperparameter optimizer parameters:\n'
               f'    tuned_hyper_parameters    ={self.hyperparams_dict}\n'
               f'    initialization_args       ={self.gp_init_kwargs}\n'
@@ -150,8 +160,9 @@ class JaxParameterTuning:
         pid = os.getpid()
         return index, pid, params, target
 
-    def tune(self, key: jax.random.PRNGKey, filename: str,
-             save_plot: bool=False) -> Dict[str, object]:
+    def tune(self, key: jax.random.PRNGKey, 
+             filename: str,
+             save_plot: bool=False) -> Dict[str, Any]:
         '''Tunes the hyper-parameters for Jax planner, returns the best found.'''
         self.summarize_hyperparameters()
         
@@ -364,7 +375,7 @@ def objective_slp(params, kwargs, key, index):
     env = RDDLEnv(domain=kwargs['domain'],
                   instance=kwargs['instance'],
                   vectorized=True,
-                  enforce_action_constraints=True)
+                  enforce_action_constraints=False)
 
     # perform training
     average_reward = 0.0
@@ -495,7 +506,7 @@ def objective_replan(params, kwargs, key, index):
     env = RDDLEnv(domain=kwargs['domain'],
                   instance=kwargs['instance'],
                   vectorized=True,
-                  enforce_action_constraints=True)
+                  enforce_action_constraints=False)
 
     # perform training
     average_reward = 0.0
@@ -622,7 +633,7 @@ def objective_drp(params, kwargs, key, index):
     env = RDDLEnv(domain=kwargs['domain'],
                   instance=kwargs['instance'],
                   vectorized=True,
-                  enforce_action_constraints=True)
+                  enforce_action_constraints=False)
     
     # perform training
     average_reward = 0.0

pyRDDLGym_jax/examples/configs/{Cartpole_Continuous_drp.cfg → Cartpole_Continuous_gym_drp.cfg}

@@ -8,12 +8,11 @@ tnorm_kwargs={}
 method='JaxDeepReactivePolicy'
 method_kwargs={'topology': [32, 32]}
 optimizer='rmsprop'
-optimizer_kwargs={'learning_rate': 0.001}
+optimizer_kwargs={'learning_rate': 0.005}
 batch_size_train=1
 batch_size_test=1
-clip_grad=1.0
 
 [Training]
 key=42
-epochs=5000
+epochs=2000
 train_seconds=30

pyRDDLGym_jax/examples/configs/{HVAC_drp.cfg → HVAC_ippc2023_drp.cfg}

@@ -8,11 +8,11 @@ tnorm_kwargs={}
 method='JaxDeepReactivePolicy'
 method_kwargs={'topology': [128, 128]}
 optimizer='rmsprop'
-optimizer_kwargs={'learning_rate': 0.0003}
+optimizer_kwargs={'learning_rate': 0.001}
 batch_size_train=1
 batch_size_test=1
 
 [Training]
 key=42
-epochs=2000
+epochs=3000
 train_seconds=30

pyRDDLGym_jax/examples/configs/MountainCar_ippc2023_slp.cfg

@@ -0,0 +1,19 @@
+[Model]
+logic='FuzzyLogic'
+logic_kwargs={'weight': 10}
+tnorm='ProductTNorm'
+tnorm_kwargs={}
+
+[Optimizer]
+method='JaxStraightLinePlan'
+method_kwargs={}
+optimizer='rmsprop'
+optimizer_kwargs={'learning_rate': 1.0}
+batch_size_train=1
+batch_size_test=1
+clip_grad=1.0
+
+[Training]
+key=42
+epochs=1000
+train_seconds=30

pyRDDLGym_jax/examples/configs/Quadcopter_drp.cfg

@@ -0,0 +1,18 @@
+[Model]
+logic='FuzzyLogic'
+logic_kwargs={'weight': 100}
+tnorm='ProductTNorm'
+tnorm_kwargs={}
+
+[Optimizer]
+method='JaxDeepReactivePolicy'
+method_kwargs={'topology': [256, 128], 'activation': 'tanh'}
+optimizer='rmsprop'
+optimizer_kwargs={'learning_rate': 0.001}
+batch_size_train=1
+batch_size_test=1
+
+[Training]
+key=42
+epochs=100000
+train_seconds=360

pyRDDLGym_jax/examples/configs/Reservoir_Continuous_drp.cfg

@@ -0,0 +1,18 @@
+[Model]
+logic='FuzzyLogic'
+logic_kwargs={'weight': 10}
+tnorm='ProductTNorm'
+tnorm_kwargs={}
+
+[Optimizer]
+method='JaxDeepReactivePolicy'
+method_kwargs={'topology': [64, 32]}
+optimizer='rmsprop'
+optimizer_kwargs={'learning_rate': 0.0002}
+batch_size_train=32
+batch_size_test=32
+
+[Training]
+key=42
+epochs=5000
+train_seconds=60

pyRDDLGym_jax/examples/configs/Reservoir_Continuous_slp.cfg

@@ -15,4 +15,4 @@ batch_size_test=32
 [Training]
 key=42
 epochs=5000
-train_seconds=30
+train_seconds=60

pyRDDLGym_jax/examples/configs/UAV_Continuous_slp.cfg

@@ -7,7 +7,7 @@ tnorm_kwargs={}
 [Optimizer]
 method='JaxStraightLinePlan'
 method_kwargs={}
-optimizer='adam'
+optimizer='rmsprop'
 optimizer_kwargs={'learning_rate': 0.0005}
 batch_size_train=1
 batch_size_test=1

pyRDDLGym_jax/examples/configs/default_drp.cfg

@@ -0,0 +1,19 @@
+[Model]
+logic='FuzzyLogic'
+logic_kwargs={'weight': 20}
+tnorm='ProductTNorm'
+tnorm_kwargs={}
+
+[Optimizer]
+method='JaxDeepReactivePolicy'
+method_kwargs={}
+optimizer='rmsprop'
+optimizer_kwargs={'learning_rate': 0.0001}
+batch_size_train=32
+batch_size_test=32
+
+[Training]
+key=42
+epochs=30000
+train_seconds=90
+policy_hyperparams=2.0

pyRDDLGym_jax/examples/configs/default_replan.cfg

@@ -0,0 +1,20 @@
+[Model]
+logic='FuzzyLogic'
+logic_kwargs={'weight': 20}
+tnorm='ProductTNorm'
+tnorm_kwargs={}
+
+[Optimizer]
+method='JaxStraightLinePlan'
+method_kwargs={}
+optimizer='rmsprop'
+optimizer_kwargs={'learning_rate': 0.01}
+batch_size_train=32
+batch_size_test=32
+rollout_horizon=5
+
+[Training]
+key=42
+epochs=2000
+train_seconds=1
+policy_hyperparams=2.0

pyRDDLGym_jax/examples/configs/default_slp.cfg

@@ -0,0 +1,19 @@
+[Model]
+logic='FuzzyLogic'
+logic_kwargs={'weight': 20}
+tnorm='ProductTNorm'
+tnorm_kwargs={}
+
+[Optimizer]
+method='JaxStraightLinePlan'
+method_kwargs={}
+optimizer='rmsprop'
+optimizer_kwargs={'learning_rate': 0.01}
+batch_size_train=32
+batch_size_test=32
+
+[Training]
+key=42
+epochs=30000
+train_seconds=90
+policy_hyperparams=2.0

pyRDDLGym_jax/examples/run_gradient.py

@@ -91,7 +91,7 @@ def main():
     my_args = [jax.random.PRNGKey(42), params, None, subs, compiler.model_params]
     
     # print the fluents over the trajectory, return and gradient
-    print(step_fn(*my_args)['pvar'])
+    print(step_fn(*my_args)['fluents'])
     print(sum_of_rewards(*my_args))
     print(jax.grad(sum_of_rewards, argnums=1)(*my_args))
     

pyRDDLGym_jax/examples/run_gym.py

@@ -25,13 +25,12 @@ def main(domain, instance, episodes=1, seed=42):
     # create the environment
     env = pyRDDLGym.make(domain, instance, enforce_action_constraints=True, 
                          backend=JaxRDDLSimulator)
-    env.seed(seed)
 
     # set up a random policy
     agent = RandomAgent(action_space=env.action_space,
                         num_actions=env.max_allowed_actions,
                         seed=seed)
-    agent.evaluate(env, episodes=episodes, verbose=True, render=True)
+    agent.evaluate(env, episodes=episodes, verbose=True, render=True, seed=seed)
     
     # important when logging to save all traces
     env.close()

pyRDDLGym_jax/examples/run_plan.py

@@ -18,6 +18,8 @@ import os
 import sys
 
 import pyRDDLGym
+from pyRDDLGym.core.debug.exception import raise_warning
+
 from pyRDDLGym_jax.core.planner import (
     load_config, JaxBackpropPlanner, JaxOfflineController, JaxOnlineController
 )
@@ -31,6 +33,11 @@ def main(domain, instance, method, episodes=1):
     # load the config file with planner settings
     abs_path = os.path.dirname(os.path.abspath(__file__))
     config_path = os.path.join(abs_path, 'configs', f'{domain}_{method}.cfg') 
+    if not os.path.isfile(config_path):
+        raise_warning(f'Config file {domain}_{method}.cfg was not found, '
+                      f'using default config (parameters could be suboptimal).', 
+                      'red')
+        config_path = os.path.join(abs_path, 'configs', f'default_{method}.cfg') 
     planner_args, _, train_args = load_config(config_path)
     
     # create the planning algorithm

pyRDDLGym_jax/examples/run_tune.py

@@ -20,6 +20,7 @@ import os
 import sys
 
 import pyRDDLGym
+from pyRDDLGym.core.debug.exception import raise_warning
 
 from pyRDDLGym_jax.core.tuning import (
     JaxParameterTuningDRP, JaxParameterTuningSLP, JaxParameterTuningSLPReplan
@@ -35,6 +36,11 @@ def main(domain, instance, method, trials=5, iters=20, workers=4):
     # load the config file with planner settings
     abs_path = os.path.dirname(os.path.abspath(__file__))
     config_path = os.path.join(abs_path, 'configs', f'{domain}_{method}.cfg')
+    if not os.path.isfile(config_path):
+        raise_warning(f'Config file {domain}_{method}.cfg was not found, '
+                      f'using default config (parameters could be suboptimal).', 
+                      'red')
+        config_path = os.path.join(abs_path, 'configs', f'default_{method}.cfg') 
     planner_args, plan_args, train_args = load_config(config_path)
     
     # define algorithm to perform tuning

{pyRDDLGym_jax-0.1.dist-info → pyRDDLGym_jax-0.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pyRDDLGym-jax
-Version: 0.1
+Version: 0.2
 Summary: pyRDDLGym-jax: JAX compilation of RDDL description files, and a differentiable planner in JAX.
 Home-page: https://github.com/pyrddlgym-project/pyRDDLGym-jax
 Author: Michael Gimelfarb, Ayal Taitler, Scott Sanner

pyRDDLGym_jax-0.2.dist-info/RECORD

@@ -0,0 +1,46 @@
+pyRDDLGym_jax/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+pyRDDLGym_jax/core/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+pyRDDLGym_jax/core/compiler.py,sha256=K1p99rKdx2PMdsN1jq6ZEtSANUWACWmOzJrGirj5wq8,89176
+pyRDDLGym_jax/core/logic.py,sha256=zujSHiR5KhTO81E5Zn8Gy_xSzVzfDskFCGvZygFRdMI,21930
+pyRDDLGym_jax/core/planner.py,sha256=vEc-Um_3q1QGhlqk-6oq0eGW7iFAbu-6kpSnyKYS9tI,91731
+pyRDDLGym_jax/core/simulator.py,sha256=fp6bep3XwwBWED0w7_4qhiwDjkSka6B2prwdNcPRCMc,8329
+pyRDDLGym_jax/core/tuning.py,sha256=uhpL3UCfSIgxDEvKI8PibwgTafCMLR_8LrRj5cBKLWE,29466
+pyRDDLGym_jax/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+pyRDDLGym_jax/examples/run_gradient.py,sha256=KhXvijRDZ4V7N8NOI2WV8ePGpPna5_vnET61YwS7Tco,2919
+pyRDDLGym_jax/examples/run_gym.py,sha256=tY6xvLCX9gLCYLK2o0gr44j26SHEwOrhyEQF0wNNIWY,1639
+pyRDDLGym_jax/examples/run_plan.py,sha256=Z40aoikg_mN3rXPl-EGU-BQ9QdHl96P1Qvp4GNZeo5c,2499
+pyRDDLGym_jax/examples/run_tune.py,sha256=N3mMCiRsxWtb94xfk6-v2nelkL5VekneeDmaLxPJND4,3318
+pyRDDLGym_jax/examples/configs/Cartpole_Continuous_gym_drp.cfg,sha256=pbkz6ccgk5dHXp7cfYbZNFyJobpGyxUZleCy4fvlmaU,336
+pyRDDLGym_jax/examples/configs/Cartpole_Continuous_gym_replan.cfg,sha256=OswO9YD4Xh1pw3R3LkUBb67WLtj5XlE3qnMQ5CKwPsM,332
+pyRDDLGym_jax/examples/configs/Cartpole_Continuous_gym_slp.cfg,sha256=FxZ4xcg2j2PzeH-wUseRR280juQN5bJjoyt6PtI1W7c,329
+pyRDDLGym_jax/examples/configs/HVAC_ippc2023_drp.cfg,sha256=FZSZc93617oglT66U80vF2QAPv18tHR1NqTbVJRjlfs,338
+pyRDDLGym_jax/examples/configs/HVAC_ippc2023_slp.cfg,sha256=wjtz86_Gz0RfQu3bbrz56PTXL8JMernINx7AtJuZCPs,314
+pyRDDLGym_jax/examples/configs/MarsRover_ippc2023_drp.cfg,sha256=MGLcEIixCzdR_UHR4Ydr8hjB1-lff7U2Zj_cZ0iuPqo,335
+pyRDDLGym_jax/examples/configs/MarsRover_ippc2023_slp.cfg,sha256=Yb4tFzUOj4epCCsofXAZo70lm5C2KzPIzI5PQHsa_Vk,429
+pyRDDLGym_jax/examples/configs/MountainCar_Continuous_gym_slp.cfg,sha256=e7j-1Z66o7F-KZDSf2e8TQRWwkXOPRwrRFkIavK8G7g,327
+pyRDDLGym_jax/examples/configs/MountainCar_ippc2023_slp.cfg,sha256=Z6CxaOxHv4oF6nW7SfSn_HshlQGDlNCPGASTnDTdL7Q,327
+pyRDDLGym_jax/examples/configs/Pendulum_gym_slp.cfg,sha256=gS66TWLSWL9D2DSRU9XK_5geEz2Nq0aBkoF9Oi2tTkc,315
+pyRDDLGym_jax/examples/configs/Pong_slp.cfg,sha256=S45mBj5hTEshdeJ4rdRaty6YliggtEMkLQV6IYxEkyU,315
+pyRDDLGym_jax/examples/configs/PowerGen_Continuous_drp.cfg,sha256=SM5_U4RwvvucHVAOdMG4vqH0Eg43f3WX9ZlV6aFPgTw,341
+pyRDDLGym_jax/examples/configs/PowerGen_Continuous_replan.cfg,sha256=lcqQ7P7X4qAbMlpkKKuYGn2luSZH-yFB7oi-eHj9Qng,332
+pyRDDLGym_jax/examples/configs/PowerGen_Continuous_slp.cfg,sha256=kG1-02ScmwsEwX7QIAZTD7si90Mb06b79G5oqcMQ9Hg,316
+pyRDDLGym_jax/examples/configs/Quadcopter_drp.cfg,sha256=yGMBWiVZT8KdZ1PhQ4kIxPvnjht1ss0UheTV-Nt9oaA,364
+pyRDDLGym_jax/examples/configs/Quadcopter_slp.cfg,sha256=9QNl58PyoJYhmwvrhzUxlLEy8vGbmwE6lRuOdvhLjGQ,317
+pyRDDLGym_jax/examples/configs/Reservoir_Continuous_drp.cfg,sha256=rrubYvC1q7Ff0ADV0GXtLw-rD9E4m7qfR66qxdYNTD8,339
+pyRDDLGym_jax/examples/configs/Reservoir_Continuous_replan.cfg,sha256=DAb-J2KwvJXViRRSHZe8aJwZiPljC28HtrKJPieeUCY,331
+pyRDDLGym_jax/examples/configs/Reservoir_Continuous_slp.cfg,sha256=QwKzCAFaErrTCHaJwDPLOxPHpNGNuAKMUoZjLLnMrNc,314
+pyRDDLGym_jax/examples/configs/SupplyChain_slp.cfg,sha256=vU_m6KjfNfaPuYosFdAWeYiV1zQGd6eNA17Yn5QB_BI,319
+pyRDDLGym_jax/examples/configs/Traffic_slp.cfg,sha256=03scuHAl6032YhyYy0w5MLMbTibhdbUZFHLhH2WWaPI,370
+pyRDDLGym_jax/examples/configs/UAV_Continuous_slp.cfg,sha256=QiJCJYOrdXXZfOTuPleGswREFxjGlqQSA0rw00YJWWI,318
+pyRDDLGym_jax/examples/configs/Wildfire_MDP_ippc2014_drp.cfg,sha256=PGkgll7h5vhSF13JScKoQ-vpWaAGNJ_PUEhK7jEjNx4,340
+pyRDDLGym_jax/examples/configs/Wildfire_MDP_ippc2014_replan.cfg,sha256=kEDAwsJQ_t9WPzPhIxfS0hRtgOhtFdJFfmPtTTJuwUE,454
+pyRDDLGym_jax/examples/configs/Wildfire_MDP_ippc2014_slp.cfg,sha256=w2wipsA8PE5OBkYVIKajjtCOtiHqmMeY3XQVPAApwFk,371
+pyRDDLGym_jax/examples/configs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+pyRDDLGym_jax/examples/configs/default_drp.cfg,sha256=AtHBy2G9xXTWb6CfDGeKrC2tycwhe2u-JjLnAVLTugQ,344
+pyRDDLGym_jax/examples/configs/default_replan.cfg,sha256=VWWPhOYBRq4cWwtrChw5pPqRmlX_nHbMvwciHd9hoLc,357
+pyRDDLGym_jax/examples/configs/default_slp.cfg,sha256=iicFMK1XJRo1OnLPPY9DKKHgt8T0FttZxRT5UYMJCRE,340
+pyRDDLGym_jax-0.2.dist-info/LICENSE,sha256=Y0Gi6H6mLOKN-oIKGZulQkoTJyPZeAaeuZu7FXH-meg,1095
+pyRDDLGym_jax-0.2.dist-info/METADATA,sha256=sXEBaZx1czXcRRMj0vXyJrtJUJHnkorsWgqrWU9axV0,1085
+pyRDDLGym_jax-0.2.dist-info/WHEEL,sha256=y4mX-SOX4fYIkonsAGA5N0Oy-8_gI4FXw5HNI1xqvWg,91
+pyRDDLGym_jax-0.2.dist-info/top_level.txt,sha256=n_oWkP_BoZK0VofvPKKmBZ3NPk86WFNvLhi1BktCbVQ,14
+pyRDDLGym_jax-0.2.dist-info/RECORD,,

{pyRDDLGym_jax-0.1.dist-info → pyRDDLGym_jax-0.2.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.42.0)
+Generator: setuptools (70.2.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

pyRDDLGym_jax-0.1.dist-info/RECORD

@@ -1,40 +0,0 @@
-pyRDDLGym_jax/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-pyRDDLGym_jax/core/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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