{ "cells": [ { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "import csv\n", "import numpy as np\n", "import matplotlib.pyplot as plt" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "def read_reward(dirname):\n", " reward = []\n", " with open(dirname+'/Simple.csv', newline='') as csvfile:\n", " reader = csv.DictReader(csvfile)\n", " for row in reader:\n", " reward.append(float(row['Environment/Cumulative Reward']))\n", " return reward" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "def smooth(scalars, weight: float): # Weight between 0 and 1\n", " last = scalars[0] # First value in the plot (first timestep)\n", " smoothed = list()\n", " for point in scalars:\n", " smoothed_val = last * weight + (1 - weight) * point # Calculate smoothed value\n", " smoothed.append(smoothed_val) # Save it\n", " last = smoothed_val # Anchor the last smoothed value\n", "\n", " return smoothed" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [], "source": [ "seeds = [0,1,2,3,4]\n", "obs_types = [\"long\", \"longpre\"]" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [], "source": [ "rewards_ppo = {} \n", "for obs in obs_types:\n", " rewards_ppo[obs] = []\n", " for s in seeds:\n", " rewards_ppo[obs].append(read_reward(\"transfer_results/ppo_{}_s{}\".format(obs, s)))\n", " rewards_ppo[obs] = np.array(rewards_ppo[obs])" ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [], "source": [ "rewards_model = {} \n", "for obs in obs_types:\n", " rewards_model[obs] = []\n", " for s in seeds:\n", " rewards_model[obs].append(read_reward(\"transfer_results/model_{}_s{}\".format(obs, s)))\n", " rewards_model[obs] = np.array(rewards_model[obs])" ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [], "source": [ "rewards_transfer = {} \n", "for obs in obs_types:\n", " rewards_transfer[obs] = []\n", " for s in seeds:\n", " rewards_transfer[obs].append(read_reward(\"transfer_results/normal_transfer_to_{}_s{}\".format(obs, s)))\n", " rewards_transfer[obs] = np.array(rewards_transfer[obs])" ] }, { "cell_type": "code", "execution_count": 28, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "xs = list(range(len(rewards_ppo[\"long\"][0])))\n", "plt.plot(xs, smooth(np.mean(rewards_ppo[\"long\"], axis=0), 0.9), label=\"PPO\")\n", "plt.plot(xs, smooth(np.mean(rewards_model[\"long\"], axis=0), 0.9), label=\"Model-based\")\n", "plt.plot(xs, smooth(np.mean(rewards_transfer[\"long\"], axis=0), 0.9), label=\"Transfer\")\n", "plt.legend()\n", "plt.title(\"LONG: average reward over 5 runs\")\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": 29, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "xs = list(range(len(rewards_ppo[\"longpre\"][0])))\n", "plt.plot(xs, smooth(np.mean(rewards_ppo[\"longpre\"], axis=0), 0.9), label=\"PPO\")\n", "plt.plot(xs, smooth(np.mean(rewards_model[\"longpre\"], axis=0), 0.9), label=\"Model-based\")\n", "plt.plot(xs, smooth(np.mean(rewards_transfer[\"longpre\"], axis=0), 0.9), label=\"Transfer\")\n", "plt.legend()\n", "plt.title(\"LONGPRE: average reward over 5 runs\")\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": 40, "metadata": {}, "outputs": [], "source": [ "seeds = [0,1,2,3,4]\n", "obs_types = [\"long\", \"longpre\"]\n", "rewards_ppo = {} \n", "for obs in obs_types:\n", " rewards_ppo[obs] = []\n", " for s in seeds:\n", " rewards_ppo[obs].append(read_reward(\"transfer_results/ppo_{}_s{}\".format(obs, s)))\n", " rewards_ppo[obs] = np.array(rewards_ppo[obs])\n", "rewards_model = {} \n", "for obs in obs_types:\n", " rewards_model[obs] = []\n", " for s in seeds:\n", " rewards_model[obs].append(read_reward(\"transfer_results/model_{}_s{}\".format(obs, s)))\n", " rewards_model[obs] = np.array(rewards_model[obs])\n", "rewards_transfer = {} \n", "for obs in obs_types:\n", " rewards_transfer[obs] = []\n", " for s in seeds:\n", " rewards_transfer[obs].append(read_reward(\"transfer_results/normal_transfer_to_{}_s{}\".format(obs, s)))\n", " rewards_transfer[obs] = np.array(rewards_transfer[obs])\n", "rewards_transfer_linear = {} \n", "for obs in obs_types:\n", " rewards_transfer_linear[obs] = []\n", " for s in seeds:\n", " rewards_transfer_linear[obs].append(read_reward(\"transfer_results/normal_transfer_linear_to_{}_s{}\".format(obs, s)))\n", " rewards_transfer_linear[obs] = np.array(rewards_transfer_linear[obs])\n", "rewards_transfer_fix = {} \n", "for obs in obs_types:\n", " rewards_transfer_fix[obs] = []\n", " for s in seeds:\n", " rewards_transfer_fix[obs].append(read_reward(\"transfer_results/normal_transfer_linear_fix_to_{}_s{}\".format(obs, s)))\n", " rewards_transfer_fix[obs] = np.array(rewards_transfer_fix[obs])" ] }, { "cell_type": "code", "execution_count": 41, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# constant policy lr, retrain model and action encoder \n", "xs = list(range(len(rewards_ppo[\"long\"][0])))\n", "plt.plot(xs, smooth(np.mean(rewards_ppo[\"long\"], axis=0), 0.9), label=\"PPO\")\n", "plt.plot(xs, smooth(np.mean(rewards_model[\"long\"], axis=0), 0.9), label=\"Model-based\")\n", "plt.plot(xs, smooth(np.mean(rewards_transfer[\"long\"], axis=0), 0.9), label=\"Transfer\")\n", "plt.plot(xs, smooth(np.mean(rewards_transfer_linear[\"long\"], axis=0), 0.9), label=\"Transfer-linear\")\n", "plt.plot(xs, smooth(np.mean(rewards_transfer_fix[\"long\"], axis=0), 0.9), label=\"Transfer-fix\")\n", "plt.legend()\n", "plt.title(\"LONG: average reward over 5 runs\")\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": 42, "metadata": {}, "outputs": [ { "data": { "image/png": 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BWefPo3FyosqggTgNGFCkppriIITAoU8A1q1bE/nRR0TNnEXmuXO4TZ+OUL3USl1Rb7zaBAw0vB4IbLy3gBDCSQhhYXhdFWgPBBdxu+WGEIINGzbw22+/Ub9+fRo0aIClpSUzZ840dmhKOSelJOXPPwnp35+wd99Dl56G28yZ1Pv7L6qNG2f0ZJ+XWTVXPBYtpOrIQJI2buLG0LfQJiUZO6xKp6ht+J8Bvwoh3gSuAy8CCCFaAsOllEOBxsD3Qggd+gPMZ1LKcp3wU1NTH2m6p6cnmzdvLsmQlEom7fC/xMydS8apU5h5euI2axYOfQIQpmX31hohBC7vvIO5pycRkyYT+sr/4fHNPCxU02apKdKvQ0oZB/jnM/0YMNTw+iDQrCjbURRFLycigsjpM0jduxfT6tWpPm0ajs8/V666Pjr06YNZ9eqEvT+akP4vUO2DiTi+9JJq1y8F5XIsHUWpbKRWS/yqVVzrHUDaoUO4jh1D3R3bcXrpxXKV7G+zbtWKOn9swLplSyKnTiMsMJCciIjCF1SKRCV8RSnjcqKjuTFwEFEzZ2HVsgV1Nm/GeehQTCwsjB1akZi6uOC5ZDGuEyaQ9vc+rj7dg8jpM8iJzrfvh1IMym6Dn6IopB0+TPiYsejS03H7bBYO/fpVqKYPYWKC8+BB2Pd4mtiFi0hYu5bE337D0tsbyyZNsGzSBDv/bmrQtmKiaviKUgZJKYn9fjE3hryJxsGB2r/9iuOzz1aoZJ+Xmbs7btM/oe62rTi98goAib//TsSkSVzx707MN9+gTUw0cpTln6rhK0oZo8vIIGLyZJK3bsO+1zO4TZ+OiY2NscMqFeaenlT7YCKgv26RGXyeuCVLiP1uIfErV2HfJwD7Z3ph3bKFGqrhMaga/mMQQvDaa6/deZ+bm4uLiwsBAQGPtB4vLy9iY2Mfq8zUqVP58ssvH2l7jys0NBRvb+9S2VZll3PrFqGvvkrytu24jPkP7l99VWmS/b2ERoNVM288vplH7Y0bse3WTd+Hf+BALnfpQuSnM8k4fVqNzPkIVA3/MdjY2BAUFERGRgZWVlbs2rWLGjVqGDsspZxL3b+fW+PGI3Nz8Vj4HXZduhg7pDLDsmEDanwxG116Oql//03y1m0krl1Lwo8/YlazJnb+/li3aY11y5ZobG2NHW6ZpWr4j6lXr15s2bIFgDVr1vCKod0RID4+nmeffRYfHx+efPLJO8Mnx8XF8fTTT9O0aVOGDh16V83kp59+onXr1vj5+TFs2DC0Wm2hMZw+fZq2bdtSv359lixZAuhv/vL39+eJJ56gWbNmbNyov/k5LS2N3r174+vri7e3N2vXrgXg+PHjdO7cmRYtWtCjRw8iDF3jjh8/jq+vL76+vixYsKAYPjGlIFKrJXrePG6+PQxTV1e8fv1VJfsCmFhbY//MM3jM/4b6/xzAbeZMzD08SPjpJ8KGj+BSmycJGfAiUbO/IOXPP9XdvPco3zX8bRMh8mzxrrN6M3jms0KLvfzyy3zyyScEBARw5swZhgwZwv79+wH4+OOPad68OX/88Qd79+7ljTfe4NSpU0ybNo0OHTrw0UcfsWXLFn744QcAzp8/z9q1a/nnn38wMzPjnXfeYfXq1bzxxhsPjOHMmTMcPnyYtLQ0mjdvTu/evXF1dWXDhg3Y29sTGxvLk08+Sd++fdm+fTvu7u53DlJJSUnk5OQQGBjIxo0bcXFxYe3atUyePJlly5YxePBgvv32Wzp16sS4ceOK+KEqBdEmJRE+ejRpBw/h0P95qn/4ISZWVsYOq1zQ2Nnh+PxzOD7/HLrMTDJOnSLt339JP3qUhB9/JH7ZMgDMvbyw9GmGdcuW2D31FKZO+T6n6YFyoqLRpaUiMzOROollo4Zl+q7mgpS/iMsIHx8fQkNDWbNmDb169bpr3oEDB1i/fj0A3bp1Iy4ujuTkZPbt28fvv/8OQO/evXEy/PD27NnD8ePHadWqFaAfZtnV1bXQGPr164eVlRVWVlZ07dqVI0eO0Lt3byZNmsS+ffswMTEhPDycqKgomjVrxpgxY5gwYQIBAQF07NiRoKAggoKCeOqppwDQarW4ubmRmJhIYmIinTp1AuD1119n27ZtxfPBKXdkh4Zyc/gIssPDcft0Bo79+xs7pHLLxNLyzpj8gP4AcPoMGadOkXH2DOmHDpO8aTOR0z7Bpk0bbLt2xaJ+fSzq1gEgedcuUrbvIOvKFWyefBK77v5YNG5M6t4/Sdq8mawLF+7anqmbG04vvYhj//7I3FyyLl8mO/Q6Nh07lOkhoMt3wn+ImnhJ6tu3L2PHjuWvv/4iLi7usdcjpWTgwIHMmjWrwDILFiy402yzdetWgPu66AkhWL16NTExMRw/fhwzMzO8vLzIzMykQYMGnDhxgq1bt/Lhhx/i7+/Pc889R9OmTTl06NBd60lU3d9KXNrhfwkbNQphYkKtFcuxvuchOUrRmFhaYtOmNTZtWgP6/2NZFy+SvHUbydu3E/Xpp/ctY16nDjZt25J26BDJhv9jYHhQzPjxmLq6YmJpgS4jg6QNfxAzdx4xc+fdtQ5hZobziOFUHTq0bI4GKqUss38tWrSQ9woODr5vWmmzsbGRUkp58+ZNOW/ePCmllH/++afs3bu3lFLKwMBA+cknn9yZ7ufnd2f69OnTpZRSbt26VQIyJiZGnjt3TtarV09GRUVJKaWMi4uToaGhUkopa9WqJWNiYu6L4eOPP5a+vr4yIyNDxsbGSk9PTxkeHi7nzp0r33vvPSmllHv37pWADAkJkeHh4TIjI0NKKeXmzZtlv379ZFZWlqxbt648ePCglFLK7OxsGRQUJKWUslmzZnL//v1SSinHjx8vmzZt+sifU1n4rsqipC1bZLB3M3mlV2+ZdeOGscOpdHQ6ncyOiJApBw7IuJWrZMyi72XGxYtSp9Pp5+fmyrRjx2Tcjz/JrJCQAteTefWajF6wQMb//LNMO3pUZoWEyLDRo2Vww0byakCATNy0SebEx99ZZ8qBAzJ88mQZ9fUcmZuQcH9cWq1MO3ZMRkyfIW8a/g8/DuCYLCCnlu8avpF5eHgwcuTI+6ZPnTqVIUOG4OPjg7W1NStXrgT0bfuvvPIKTZs2pV27dnee6NWkSRNmzJjB008/jU6nw8zMjAULFlCrVq0Hbt/Hx4euXbsSGxvLlClTcHd359VXX6VPnz40a9aMli1b0qhRIwDOnj3LuHHjMDExwczMjIULF2Jubs66desYOXIkSUlJ5Obm8v7779O0aVOWL1/OkCFDEELw9NNPF/MnV3nF//gTUTNnYtXiCTy/+w6Nvb2xQ6p0hBCYVa+OWfXq0L79/fM1GqxbtCj0rMuiTm1c3nnnrmk1vv4a+759ifpkOrfGjQcTEyybeZNz6xbamFhMbGzQpaeTsHo1zkPfxLp1azKDz5MZHEzagQPkRkcjLCyw7dQJmZNT7OMkCVmG+7C2bNlSHjt27K5p58+fp3HjxkaKSHkU6rv6HyklMd98Q9zCRdj6+1Pjqy8xsbQ0dlhKCZFaLZnnzpH69z7S/vkHU5eq2Pfpg23nzmSHXidm3jxS9+69U17j5IRViyew7/kMtl26oLF9/HsvhBDHpZQt85unaviKUsKklER/9hnxK1fh8EJ/3KZOLZc9PJSHJzQarHx8sPLxwSXwvbvmWTZsgOd3C8g4G0RuTDSWTZpgWq1aqQyboX51ilKCpE5H5PTpJK75Bac3XqfaBx9U2PFwlEdj1az0715XCV9RSojUaon4+GOS1q3HeeibuIwZo5K9YlQq4StKCZC5udyaNInkTZtxHjEcl5EjVbJXjE4lfEUpZjInh/Bx40nZvh2X90dRdfhwY4ekKIBK+IpSrGRODmHvjyZ1zx5cJ0zAefAgY4ekKHeohP8I4uLi8PfXP7M9MjISjUaDi4sLAEeOHMG8GO+su3DhAi+//DJCCNatW0fdunWLbd1KyZBSEvnJJ6Tu2UO1Dz+kymuvGjskRbmLSviPwNnZmVOnTgH6m6tsbW0ZO3bsnfm5ubmYFlN3uz/++IMXXniBDz/88KGX0Wq1aNRDIYwmbslSEn9bh/PwYSrZK2VSkYZHFkIMEEKcE0LohBD5dvQ3lOsphLgohLgihJhYlG2WNYMGDWL48OG0adOG8ePHc+TIEdq2bUvz5s1p164dFy9eBGDFihU8//zz9OzZk/r16zN+/HhAn6QHDRqEt7c3zZo1Y86cOWzdupW5c+eycOFCunbtChQ8fLKtrS1jxozB19f3vjFxlNKTtGULMV9/jX1AAC6jRhk7HEXJV1Gro0HA88D3BRUQQmiABcBTQBhwVAixSUoZXMRt8/mRz7kQf6Hwgo+gUZVGTGg94ZGWCQsL4+DBg2g0GpKTk9m/fz+mpqbs3r2bSZMm3Rk589SpU5w8eRILCwsaNmxIYGAg0dHRhIeHExQUBOgHLnN0dGT48OF3ziAeNHxyWloabdq04auvvirWz0F5eBmnThHxwSSsWrbAbeanqjeOUmYVKeFLKc/D/aM23qM1cEVKec1Q9hegH1DkhF9WDBgw4E5TSlJSEgMHDuTy5csIIcjJyblTzt/fHwcHB0A/fs7169dp2rQp165dIzAwkN69e+c7bs2Dhk/WaDT0V8PqGk1OVBQ3AwMxrVYNj/nzMSmLIyQqikFptOHXAG7meR8GtCmosBDibeBt4M7gYgV51Jp4SbHJ88zRKVOm0LVrVzZs2EBoaChd8jy5yMLC4s5rjUZDbm4uTk5OnD59mh07drBo0SJ+/fVXlhke3HCbfMDwyZaWlqrd3kh0WVmEvReITEvH44cfHuvBGoqSl5SSpJgMkmMyqNnUudjXX2jCF0LsBqrnM2uylHJjcQckpVwMLAb94GnFvf6SlpSUdOf5titWrCi0fGxsLObm5vTv35+GDRve9XD02/z9/enXrx+jR4/G1dWV+Ph4UlJSCh1NUyk5UkoiP/qIzLNn8fh2PpYNGhg7JKWcysrI5UZQHDfOxRF2MYHUhCwsrE0Z8mVHTEyKt3mw0IQvpexexG2EA5553nsYplVI48ePZ+DAgcyYMYPevXsXWj48PJzBgwej0+kA8q3FP+7wyUrJSfhpNUkbN1E18D3suhf1v4hS2eRma7lyPJrLx6IIu5CATiuxtDGjRkMnWjzjhEdDJ0riUlCxDI8shPgLGCulPJbPPFPgEuCPPtEfBf5PSnmusPWq4ZHLt4r6XWWcPk3oa69j2749Ht8tQJgUqbObUklIKYkLT+PCoQguHIogKz0X+6qW1PFzoY6fC9XqOBRLjb7EhkcWQjwHzAdcgC1CiFNSyh5CCHdgqZSyl5QyVwjxHrAD0ADLHibZK0pZlJuQQNjo0Zi5uOD+2SyV7JUCZWfmEn8rjZgbKURcSSTsYgIZKTmYmAjqNHfBu1MN3Bs4lmqvrqL20tkAbMhn+i2gV573W4Gt95ZTlPJE6nTcmjgRbUwstX7+GY2jo7FDUsqY5NgMLh2N4sqxKOJupYGhAcXawRzPxlXwaOREzabO2DhYPHhFJUTdaasoDylu8WLS/t5HtY+mGGUsc6XsycrIJfJqEreuJBJ+MYGokGQA3Oo50DqgNlU9bHH2sMWuimWZuD9DJXxFeQip//xDzLxvsA8IwOmVV4wdjmJEqQmZXDsVS8jpGMIvJSJ1EhMTQdWadrTpV4cGraphX9XK2GHmSyV8RSlETkQEt8aOw6JeXdw+mVYmampK6UpNyOTqiRiuHI8i8pq+Fu9U3ZrmT9XEo7ET1Ws7YGZR9u+HUQlfUR5AZmcT9v77yOxsasz7BhNr62LfRlpOGlFpUSRnJ5OcrU8mtma22JnbkZydzJmYM5yJOUN8Zjxutm542HpQ17EunTw6YWP2+A+7VvInpSQ+Io2w8wlEhSQRFZpMcmwmAM4etrTpW4c6zV2o4lb+PnuV8B9BeRseuUuXLnz55Ze0bNmSXr168fPPP+OoLjQ+kug5c8k8fYYa8+ZhUad2sawzR5vDhisbOBxxmAvxF7iZcrPQZTxsPahmU42TUSfZFrINndRhqbGks2dn+tbtS8caHdWZRxGkJ2dz63IiNy/EcyMojtSELABsnSyoVtse704e1PatigWuxAUAACAASURBVGO14j/glyaV8B9BeR4eeevWku0kVZz7XlakHTxI/PLlOP3fK9j3uH+Mo0elkzq2h2znm5PfEJ4aTg3bGjSu0ph+dfvhYeeBvbk99hb2mGBCSk4KKdkpWGos8a7qjbPV/26zz9HlEBQbxJZrW9gZupMdoTvo5NGJKU9OobpNfjfFK3lJnSTuVipRIclEX08h4moSCRFpAJhZavBsVIVWvZ3xbFIFuyqWRo62eFWs/6FGMGjQICwtLTl58iTt27fn5ZdfZtSoUWRmZmJlZcXy5ctp2LAhK1asYNOmTaSnp3P16lWee+45Zs+ejVar5c033+TYsWMIIRgyZAgNGzZk7ty5aDQa9uzZw59//slPP/3EN998Q3Z2Nm3atOG7775Do9Fga2vLsGHD2L17NwsWLKBDhw75xunl5cWxY8dITU3lmWeeoUOHDhw8eJAaNWqwceNGrKysuHr1Ku+++y4xMTFYW1uzZMkSGjVqxObNm5kxYwbZ2dk4OzuzevVqqlWrxtSpU7l69SrXrl2jZs2arFmzppQ//ZKTm5DArQkTMa9bF9dx44q8vquJV5nyzxTOxp6loVNDFnVfRDv3do9VKzczMaO5a3OauzZnQusJ/HLhF+afnM+zG59lZPORPFP7GZws1bg+99JqdVz6N4oTO66TGJUOgIW1KdVq29Poyeq4N3DEpaYdGk3FvbeiXCf8yJkzyTpfvMMjWzRuRPVJkx5pmfI2PPLly5dZs2YNS5Ys4cUXX2T9+vW89tprvP322yxatIj69evz77//8s4777B37146dOjA4cOHEUKwdOlSZs+efWd7wcHBHDhwACurstkr4XHcHicnNzGR2ou/x6QI+6bVafkx+Efmn5yPrbktMzvMpHed3piI4kkqZiZmvN7kdbp4dmHaoWnMOjKLWUdm0cCpAc1dm2Nvbo+FxgIbMxu61+peac8ALh2J5NAfV0mNz6Kqpy3d3miEWz1HHFysKlVTWLlO+GVFeRseuXbt2vj5+QHQokULQkNDSU1N5eDBgwwYMOBOuawsfTtmWFgYL730EhEREWRnZ1O79v/asvv27Vuhkj1A0vr1pOzajeu4cVgWYWiI0KRQPj74MSeiT9DNsxsftf3orqaZ4uRp58mSp5ZwOuY0RyOPcjTyKFuvbSUtNw2d1I/T9NWxr+hVpxcDmw6kgVPlGOwtOzOXfb9c4uLhSFxr2dH5lYbU8nauVEk+r3Kd8B+1Jl5SysrwyD169CAqKoqWLVuydOnSAuO9N46MjAx0Oh2Ojo53rlHkFRgYyH/+8x/69u3LX3/9xdSpU/Pd94og+8YNImfOwrpNG6o85gPIc3W5rDy3ku9OfYeFqQWfdviUPnX6lHiSEULg5+qHn6sfb/m8dVc8EWkR/Hz+Z9ZfXs+mq5t4o8kbjG4xGlOTcp0CCpSTreXW5UQO/HqZpOh0WvX2omUvL0wqcHPNw6iY37YRGXN45B07djx23Pb29tSuXZvffvuNAQMGIKXkzJkz+Pr63rVPK1eufOxtlHVSq+XWhIkIjQb3WTMfeZyc9Jx0doTu4KfzP3Ep4RLda3ZnUptJuFi7lFDED8fUxBRPO08mtJ7AcN/hzD85n1XBq7iYcJEvO32Jo2XF6Lml1eoI+jucqyeiiQpJRqeV2DiY0+/95tRoqK5pgEr4xa48D4+8evVqRowYwYwZM8jJyeHll1/G19eXqVOnMmDAAJycnOjWrRshISHFut2yIm7pD2ScPIn7F7Mxc3d/6OWSs5OZd3we/732X9Jz0/Gy9+Krzl/xtFfRe/YUNwcLBz588kOaOjdl+uHpvLzlZb7q8hVNnZsaO7QiuXUlkb9/vkj8rTRcatrh6++Je31HajRwKhc3RJWWYhkeuaSo4ZHLt/L0XWUGBxPy4kvYPdWdGl9//dDNL9eTr/PenvcISwmjd53e9G/QHz8Xv3LRRnw25iyj/xpNXEYcI/xGMMR7SLlr4slMy+Gf9Ve4cDAC2yoWdHqpAbV9jXtGZWwlNjyyolQEUqsl4sMpaJwccfv444dO1oduHWLs32MxESYseXoJLavn+3+szGrm0oz1fdfz6eFPmX9yPvvC9jGr4yw87TwLX7gMCDkdw18/XyQjJYcnetSkZa/aqjZfiMp9BUNRgISf15AZHEz1SZMeasjjHF0O3536jhG7R+Bq7cqa3mvKXbK/zcHCgdmdZ/N5x8+5lnSNV7a8wpGII8YO64EyUrPZ+cM5ti48i5WtOQMmtqTtc/VUsn8IqoavVGo5UdHEzJ2LTfv22PXsWWj5KwlXmHRgEufjzxNQJ4DJbSZja25bCpGWrF51euFd1ZvAvYEM2zWMD9p8wIsNXzR2WPe5cjyafb9cJCs9l1YBtWnRsxYaU1VvfVgq4SuVWvTnnyFzcqj+0ZRCm3J2hO7gg/0fYGdux5wuc+heq2I9y7amfU1+6vUTE/ZNYPrh6YSlhDG6xegycT0i5kYKR7eEEHI6FpeadvR7vzHONcr/gba0qYSvVFqp//xD8tZtVA18D/NCejxtD9nOxP0T8XHxYU6XOSV2A5Wx2ZnbMb/bfGYdmcXyc8vRmGgY2XykUZK+lJIb5+I5uesG4RcTMLPU8OSzdWj+VM1K35/+camEr1RK2tRUIqd8hLmXF85Dhz6w7NZrW/ngwAf4ufixsPtCrM3K94iJhdGYaJjcZjJaqWXp2aWYm5gzwm9EqW1f6iTXTsdwbGsosTdTsXG0oO3zdWnasQYWViplFYX69B5BeRseef/+/QwfPhwzMzO2bNnCqFGjWLduXbHFWJ5FzZpFTmQkXj+vxsSi4OeL7gzdyQcHPuAJ1ydY4L+gwif724QQTHlyCjnaHL47/R03U27yTO1naOPWBnNN8f3O7xVzI4XdK4KJv5WGg4sVXV9vRMM21VU7fTFRCf8RlLfhkVevXs0HH3xw5+5dlez1UvbuJWn97zgPG4aVYUyh/ByNPMrE/RPxdfGtVMn+NhNhwrR207Azt+P3y7+z+dpmrE2teab2M7zX/D2qWlUt1u0F/3OLfWsuYWlrxlNvNqFei2qYmBj/+kFFog6bRTRo0CCGDx9OmzZtGD9+PEeOHKFt27Y0b96cdu3acfHiRUA/zMLzzz9Pz549qV+/PuPHjwf0SXrQoEF4e3vTrFkz5syZw9atW5k7dy4LFy6ka9euAPz000+0bt0aPz8/hg0bhlarBcDW1pYxY8bg6+vLoUOH7sS1dOlSfv31V6ZMmcKrr75KaGgo3t76B2/PmTOHIUOGAHD27Fm8vb1JT08vtc/MmHLj44mY8hEWjRrh8u47BZa7GH+RkXtHUtOuJvO7za90yf42jYmGCa0nsO/lfSzwX0APrx5svLqRgA0BLA9aTrY2u8jbSE/OZs+q8/z54wXc6jnw0uRWNGhVXSX7ElCk6qgQYgAwFWgMtJZSHiugXCiQAmiB3ILuAntU+3+9ROzN1OJY1R1VPW3p+OKjjSRYFodHHjp0KAcOHCAgIIAXXniB0NDQO/NGjRpFly5d2LBhA59++inff/891iXw6L6yKGrGp+iSk3FftgxRQBNcWEoYI3aPwNrMmkVPLcLBwqGUoyx7LDQWdPLoRCePTrzZ7E2+PPolXx//muVBy2lXox0danSgg3uHRxqXJ+ZmCmf23OTSsSh0WknLXl60CqitEn0JKmr7QxDwPPD9Q5TtKqWMLeL2yqTyNjyyiYkJK1aswMfHh2HDhtG+ffvH2u/yJv3YMZK3bqXqO+9g2TD/g/q1xGu8testsrRZrOy5stKOH/8gtexrMd9/PoduHWLj1Y0cDD/IlmtbMDUxpatnV56v/zxt3dqiMcn/RqicLC0H1l0meP8tTC00NGnvjk9XD5yqV6yRV8uiIiV8KeV5wGj9dB+1Jl5SytvwyKB/CIqtrS23bt16nF0ud6ROR9TMWZhWq4bz0DfzLXMu7hzDdw1HIzQs67GMek71SjnK8qWte1vaurdFJ3UExwWzLWQbm65uYtf1XdR3qs+qnqvuuyktKiSZXcvPkRSTQfOnatLimVpYWJsZaQ8qn9Jqw5fATiHEcSHE2w8qKIR4WwhxTAhxLCYmppTCKz6PMzyyTqejf//+zJgxgxMnTtxXxt/fn3Xr1hEdHQ1AfHw8169fv6/cjh07OHXqVKHJPikpiZEjR7Jv3z7i4uIqxcXcpA1/kBkcjOvYMZjk03x1Mvokb+54E2tTa1Y9s4qGVRoaIcryyUSY4F3Vm3GtxrFnwB5mtJ/B1cSrfHHsiztltLk6/t10jfVfHEebq+PZ0c1p17+eSvalrNAavhBiN5Dfee1kKeXGh9xOBylluBDCFdglhLggpdyXX0Ep5WJgMehHy3zI9ZcZ5WF45NGjR/Puu+/SoEEDfvjhB7p27UqnTp3uNBNVNNrUNKLnzsHK1xf7gID75l9KuMS7u9/FxcqFJU8vUc04RWCuMadfvX6EJoey9OxSunh0oalswd5V54kLT6Nhm+p0fKm+SvRGUizDIwsh/gLGFnTR9p6yU4FUKeWXhZVVwyOXb2Xlu4qeM5e477/Ha+0vWPn63jUvMi2SV7e+ChJ+7PUj7rYPPw6+UrAcbQ7/t/lVXC40xvtGZ6ztzOnyWiO8mhVvV07lfkYdHlkIYQOYSClTDK+fBj4p6e0qCkBOVBTxK1ZgHxBwX7JPykpi2K5hpOeks/KZlSrZF6O0uBz6nRtJ0s1sEmvdYFDgK1jbFnyDm1I6itSGL4R4TggRBrQFtgghdhimuwshthqKVQMOCCFOA0eALVLK7UXZrqI8rNgF3yF1OlzeH3XX9HNx53ht62vcTLnJN92+qTQP9S4NV09Es/bTo2TG6bDqGc8a96+YdHQCGbkZxg6t0itqL50NwIZ8pt8CehleXwN87y1TxO2WiRH8lIKVhSepZV0LIXH9epxeeQVzDw8AdFLHinMrmH9yPlUsq/D9U9/TqnorI0dacVw6Esnu5cG4etnT4y1v7KpYYh6cyeyjsxm6YyjfdPumwg48Vx6UuzttLS0tiYuLKxMJRcmflJK4uDgsLS2NGkfMN98gLCyoOmL4nbgm7JvAnONz6OrZld/7/q6SfTG6eDiC3cuDcavnSN9RfthV0X//rzV5jTld53Ap4RKvbn2V7aHb0UmdkaOtnMrdWDoeHh6EhYVRHrtsViaWlpZ4GGrVxpBxNoiU7dup+s47mDrra5Qrz61ke+h2ApsH8lazt9RZYjE6tz+cv36+SI0GTvR+x+e+p0/51/Tnhx4/MOWfKYz7exzfO37PMN9hdKrRqdIOW2EM5e4h5opSGCklNwYNJuvSJeru2onG1pajkUd5a+dbdKvZja86f6WSfTGROsnhjVc5seMGNZtWoeewZpiZF/yoQa1Oy47QHSw8vZDQ5FBMhSneVb1p49aGwd6DsTFTd9sWlXqIuVKpJG34g/R//6X61I/R2NoSnR7NuL/H4WnnyfT201WyLya52Vp2rwjm6okYmnZ0p9PLDQp9MInGREOvOr142utp/o34l6ORRzkadZQlZ5dwPOo4C7svxNLUuE2BFZmq4SsVSm5sLFd7B2BRvx61Vq0iV2oZsmMIFxMusqb3Guo6PvpzBZT7ZaXn8N9vzxAZkkT7/vXw9fcs0oF0y7UtfLD/AzrU6MC8rvMw06gbsx6XquErlUbkp58i09Nx+2Q6wsSE2YdncSrmFF90/kIl+2KSnpzN5vmniL+VRo+h3tRrUfQ7tHvX6U16bjqfHPqECfsn8HStp4lOjyYlJ4Xn6j2n7pEoJirhKxVGyt69pGzbjsv7o7CoU5uNVzbyy8VfGNR0ED29eho7vAohNSGTTfNOkRKXSe93fKjZtPi6WA5oMID0nHS+PPYlu67vujN9y7Ut/PjMj6o7ZzFQTTpKhaDLzORqz2fQODhQe91vnE++zBvb3sDXxZfvn/oeUxNVtykKqZOcPxTBod+votPq6P2uL+71H37s+0dxNfEqUkpcrF0ISQph6M6h1Heszw89flA9eh7Cg5p0yl0/fEXJT8LPa8iNjKTapElkilzG/j0WJ0snvuj8hUr2RRQXnsqGr07w548XcHKzpv/4liWW7AHqOtalnlM9HCwc8HP1Y3an2QTHBzN+33hydDmFr0ApkPqfoJR72tRU4hYvxqZ9e2zatObLo19yM+Umy3oso4plFWOHV66FXYhny8KzmJqZ0O2NxjRqW73Uezl1q9mNSa0nMePfGbT9uS217GtR26E2NWxr4GrtSnXr6tiY22CCCUII6jrWVd97AVTCV8q9+OUr0CYm4jJ6NGdjzvLj+R95scGL6i7aIgo9E8v2xUE4uFrRd5QfNg7GG/zspUYv4WrtyvGo44QkhxAcF8yeG3vI1eXeV9ba1JphvsN4vfHrqrfPPVQbvlKu5SYkcNW/OzYdOlBtzpe8+N8XSclO4Y9+f9z3tCXl4V0+FsXuZcFU9bSlT6AflrZlL3HqpI6EzASi0qPIyM1AJ3XkaHNYc2ENf4X9hZe9F+NbjadDjQ6V6t4L1S1TqbDivl+MLjMTl1EjWXp2KVcSr7DAf4FK9kVw+VgUu344R/W6DgS864u5VdlMEybCBGcr5/t677Sr0Y79Yfv5/OjnvLPnHdq6tWVMyzHqKWaoi7ZKOZZ58SIJq1fj0K8fh83DWHRmEb1q96KTRydjh1ZuXTkeza5lwVSv60CfQL8ym+wL09GjIxv6bmBCqwkExwczYPMApvwzhZj0yj0Gl2rSUcolXUYGIQMGoE1KIuuHz3jz6GjqONRhWY9lquveY7p6MpodS85RvbY9AYG+mFuWz2R/r6SsJJacWcLqC6sxNzHnLZ+3eL3J61hoKuYDWVS3TKXCiZo9m+wrVzH76D+8e+IDnC2dWeC/QCX7x6DN1XFowxW2Lw6impcdAe9VnGQP4GDhwNhWY9nYbyNt3Now78Q8+v3Rj20h28rkMOvpOencSr1VIutWCV8pd1L27CFxzS/YDXqdwNQfkEgWPbVI3Yn5GOJupbLu82Oc2HGDJu3c6DOy/DbjFKamfU2+6fYNi59ajI2ZDeP3jee1ra9xIuqEsUO7Qyd1TNw/kde2vkZ6Tnqxr79ifrNKhZUbE0PE5A+xbNKEZe0yuBFyg2U9llHLvpaxQyt34sL1yd7MQkOvEc2o7eti7JBKRVv3tvwa8Cubr21m/on5DNw+kPbu7XnH7x18XHxIz0nnZPRJTkafJCQphNDkUCLTInGydKKadTXcbd15ocEL+LoU64P8APj25Lf8efNPJraeWCJnq6oNXyk3pJSEBQaStm8/cYsmM/zydAZ7D+Y/Lf5j7NDKnayMXH6bdZScLC0DJrbC1qlitmcXJiM3g18u/MKyoGUkZiVS16Eu11Ouk6vLxUSY4GHrgZeDF242biRmJRKVFsXVpKukZKfQvWZ3Ap8IpI5DnWKJ5b/X/ssH+z/ghQYv8NGTHz12V9IHteGrhK+UG0mb/8utceOw/08grzuuw8HCgbUBazHXmBs7tHJFSsn2xUGEnI7l2dHNS3SYhPIiLSeNNRfWcPjWYbyretO6emv8XP3yrWWn56SzKngVy4OWk6XN4pVGr/Be8/ce+eEtOdocbqbeJC4jjhvJN5j570x8XHxY/NTiIt0wphK+Uu7lxsRwLaAP5l5eLBzhyc4bu/m59880dm5s7NDKnZO7bnBw/RXav1APv+41jR1OuRWfGc+Ckwv47dJvVLOpxqTWk+has2uhy0kp2Xl9J18c/YKo9Kg702vZ1+LHZ37EydKpSHGpG6+Uck1KScS0aegyMrge2JetV2fxrt+7Ktk/JCklYecTCD0by83z8SREplO3uQu+/p7GDq1cq2JZhSltp9Cnbh+mHZrGyD9H4mbjhp+LH76uvnTz7Iabrdtdy1xKuMTso7P5N+JfGlVpxMgnRlLNuhrOls542nuWeFfRItXwhRBfAH2AbOAqMFhKmZhPuZ7APEADLJVSfvYw61c1fAUgecdOwkeNwmF0IK87rcfR0pFfAn7BzKTs3e5fFp3ec5MDv13G1MwE9waO1GziTJOO7g989qzyaHJ0Ofxx5Q/+jfiXk9EniU6PxkSY0KFGB16o/wLxmfFsuLKB0zGnsTO3I7B5IC82eBGNSfF/ByXWpCOEeBrYK6XMFUJ8DiClnHBPGQ1wCXgKCAOOAq9IKYMLW79K+Io2NY1rvXujqVKFNWP9+PXqelb3Wo13VW9jh1Yu3AyOZ/P8U3j5VOXpoU0xNVNJvjTcTLnJH1f+4PfLvxObEQtAHYc6PFfvOfrV61fkZpsHKbEmHSnlzjxvDwMv5FOsNXBFSnnNEMwvQD+g0ISvKLHffktudDSpH4/glyszeL3J6yrZP6TE6HR2LA3Cyc2G7oObqGRfijztPAlsHshw3+EcunUIBwsHfKr6GH0Qt+Jswx8CrM1neg3gZp73YUCbglYihHgbeBugZk11Qakyy7x4kfgff8T+heeZkLyaGrY1eM/vPWOHVS6kJWaxdeFZENBrhE+FunO2PDEzMStTYzsV+isQQuwGqucza7KUcqOhzGQgF1hd1ICklIuBxaBv0inq+pTySep0RH48FY2DA3/19iTk4ka+8/9ODZ1QCG2ujtN7b3JsSyg6raT3ez44uFgZOyyljCg04Uspuz9ovhBiEBAA+Mv8LwiEA3m7A3gYpilKgZL+2EjGqVM4Tp/CdyELaOfejo4eHY0dVpmUEJlGzM0U4sJSuXYqlsSodLx8qtJhQD0cXNQBUvmfIp3nGXrfjAc6SykLGvjhKFBfCFEbfaJ/Gfi/omxXqdi0qalEf/01Vn5+rK4VTsr5FHU3bT6klPyz7gqn9+hbTE00gqqedvR+1wevZlWNHJ1SFhW1Ye9bwALYZbgYcVhKOVwI4Y6++2UvQw+e94Ad6LtlLpNSnividpUKLG7RIrSxsYgvp/LzxXH0q9dPPbwiHyd2XOf0nps06ehOs84eOFW3RmOqxkNUClbUXjr1Cph+C+iV5/1WYGtRtqVUDtmhocStXIXDc88xN2sHGqFRF2rzEfzPLQ7/cY36rarR5ZWGCJPK8wg/5fGp6oBSpkR9PhsTMzNuvNqJbaHbeKPpG1SzqWbssMqUaydj+OunC9RsUgX/gY1Vslcemkr4SpmRvGMnqX/+icXQ15lwbhZ1Herypvebxg6rTLl2KoYdS4Jw9bKnx9veqglHeSSqc65SJmSHhhIxeTIWzbyZ5nmcjOQMlvdYrrph5nHtVAw7FgfhUstO/6AS1bdeeUSqeqAYnS4jg7BR7yM0Gra92ZRj8af4uO3H1HEsnnHGK4LQs7HsWBJE1Zr6ZG9RQZ9KpZQslfAVo5JSEvnJdLIuXSJ10lssilrPSw1foned3sYOrcyIvJbEjsVBONewpe9IX5XslcemEr5iVIm//ELShg1UHTGCBZYHcbFyYWzLscYOq8xIjEpny3dnsHYwJ+A9Xyys1QihyuNTVQXFaNIOHiRyxqfYdu5M2IB2HNm5mHEtx2Fpamns0IwmN1tLfEQaQgi0Wh27lunHGOwT6Ie1vXqyl1I0KuErRpF1LYSw90djUacO7l99xczDY3GycOKFBvkNuFo55GRpWff5MeJvpd2ZZmpmQr//NMexmrp4rRSdSvhKqdMmJnJzxHCEqSkeCxdyISuUA+EHGPXEqErbK0dKyd8/XyQ+Io3OrzTA2sECJFRxt1HJXik2KuErpS5q9hfk3Iqg1sqVmHvUYMmfX2BnbsfLDV82dmhGc/5gBBf/jaRVQG28O3sYOxylglIXbZVSlXHmDEm//47zoIFYP9GcywmX2XNjD682fhVbc1tjh2cUsWEp7PvlEh6NnGjZy8vY4SgVmEr4SqmROh2RMz7F1MUF52HDAfj25LfYmNnwaqNXjRydcWRl5LL9+yAsrE15akhTTNQwCUoJUglfKTVJf2wk88wZXMeOQWNrw+mY0+y9uZdBTQfhaOlo7PBKndRJ9qwIJiUukx5DvVUvHKXEqYSvlIo7Y9z7+mLfpw9SSuadmEcVyyq80eQNY4dnFCd2XifkdCzt+tfDvX7lO+AppU8lfKVUxC1ahDYujmofTkaYmHDo1iGORh7lbZ+3K2XPnJvB8fy78Rr1W7ri001dpFVKh0r4SonLCQ8nftWPOPTti1WzZuikjnkn5+Fu486ABgOMHV6piw1LYcfSIJzcbOj6emMMDw9SlBKnEr5S4qLnzgMhcHl/FAC7r+8mOC6Yd/zewVxTudqtEyLT2DTvFGYWGnq/44OZhcbYISmViEr4SonKCDpH8ubNVBk4EDM3N7Q6LQtOLaCOQx0C6gQYO7xSlRSTwcY5J0EI+r3fHPuqVsYOSalk1I1XSomRUhI9ezaaKlVwfvstALaGbOVa0jW+6vwVGpPKUbvNzdESfCCCY9tC0Wl1PPefJ9Tds4pRqISvlJjUP/8i/cgRqk35EI2tLTm6HL479R2NqjSie63uxg6vVJzbH87R/4aQlpSNe31HOr7UAOcalfMGM8X4VMJXSoQ2MZHIadMwr1sXpxdfBGDjlY2EpYaxwH8BJqLityae/SuMfb9cwq2eA92HNKVGA0d1gVYxKpXwlWInpSTi46nkxsXhtWABwsyMLG0Wi04vwsfFh441Oho7xBIXdiGe/b9exquZM8+M8FF30CplQsWvZimlLmnDH6Ts2IHLqJFYeTcFYN2ldUSlRxHYPLDC13ITo9LZvjgIp+rWargEpUwpUg1fCPEF0AfIBq4Cg6WUifmUCwVSAC2QK6VsWZTtKmVX9o0bRM2YgXWrVjgPGQJAWk4ai88spnX11rSp3sbIEZas20+oEkLQa4QP5upxhEoZUtQa/i7AW0rpA1wCPnhA2a5SSj+V7Cuu7Bs3uPHWW6DR4P75ZwiNvhfOquBVxGfG8/4T71fY2r2UkqC/w1g74wgZqdk8M7wZDi6q26VSthSpcTssRQAAIABJREFU+iGl3Jnn7WGg8j6uqJLLOBvEzeHDITcXz++/x8zdHYD4zHhWnltJ95rdaebSzMhRloyM/2/vvMOjqtI//jmZmWTSK+kVEkroRYqggog0FbCBshYEEWTRVX/rgrq6Kiq7KthRxMWCogiyKiKKCIL0DgmQCum9TzKTaef3xw0IEnrq5H6eZ57MvffMve/Jmfnec9/znvcYzGz4+CgZCSVExPsx/N4uuPu4NLdZKipn0ZDPmw8AX53jmAR+FkJI4AMp5eJznUQIMR2YDhAZGdmA5qk0FoatW8me/QhaX18iPvwQl/Yxp44tObwEo9XI7N6zm9HCxqMos4of3z9MTaWZaybG0X1ouMM+xai0fi4o+EKIX4Dgeg49LaX8tq7M04AV+PwcpxkipcwRQgQC64UQx6SUm+srWHczWAzQr18/eRF1UGlGLPn55PztMZwjIoj4cDG6wMBTx3INuXx57EvGx46nvU/7ZrSycUjakcfGz5Nw9dAx4f/6EBTt1dwmqaiclwsKvpTyvDNkhBD3AzcBw6WU9Qq0lDKn7m+hEGI10B+oV/BVWg9SSvKeehpptRL+1ptniD3Awr0LEQhm9pzZTBY2Holbctj0eRKhcT6MfFDNZa/SOrjSKJ1RwJPAdVLKmnOUcQecpJRVde9vBF64kuuqtAzKli+nets2gv/1HM5RUWcc25i5kXUn1jGr1yyC3et7QGy9ZCaW8NvyZCK7+jPm4e5oNGp0s6NxJLeSz3Zk4O6soZ2nCx56LZmlNaQVGsguMxLu60rnYC86h3jSzsMFbzcdXnodNWYrRVVmSqvN+LrriG3nQTtPl1NuPrtdklxYxdbUEranFVNQWYtOI9BqnLDbJYZaK1UmK+4uGn5+7LoGr9eV+vDfAVxQ3DQAO6SUM4QQocASKeUYIAhYXXdcC3whpVx3hddVaWbMJ05Q+J9XcR8yBJ+JE884VmWuYt6OecT5xjG129RmsrBxKMkxsO7DBPxC3Bn5YFdV7FshdrvEZLXh5ny2/EkpWbYzkxfXHEHrJLBLicliB8BZ40R0gBvhvm5kltawMakIm/3CXmdPFy16Zw1Gsw2jxXbqM9H+bkQHuGO1SSw2OzqNE5F+bnjotbTzbJxB/yuN0ok9x/5cYEzd+3Sg55VcR6VlYauoIPuxxxHOzoS8NO+sQcoFexdQbCrmzevfRKfRNZOVDYuUkpzkcjZ8cgRnFw03/bUHzno1xr41UWKo5eu92XyxM5PM0ho89VrCfFyVl6/y91B2BT8czuPaju1YeGdP/NydqTbbqDRaCPR0QXvaDd5ksXG8uJoSg5kKo4VKkwV3Fy0B7s74uDlTWm0mrchAWpEBi82OXqfBzVlDlL87g2MDCPNp+rBd9RurcknYKirIfGAq5tRUwt99B11Q0BnHd+fvZmXySu7vej/dAro1k5UNh9ViI3FzLgmbcygvqEHvoeOWR3rh4atvbtNaNTVmKzvTS4kP9SLIq/H+lxVGC78eK+CnhAJ+PVaI2Wanf4wfd/YLp6iqlpxyEznlRnafKKXSZEXjJHhyVCdmXNvh1AxpDxctHi5nS6Vep6FLyPkH6ofEBTRKvS4XVfBVLpqTYl+bnEz4O2/jce21ZxyXUvL6ntcJ8wjj4V4PN5OVDYfdLln/0RHSDxQR3N6L4fd3IbZPIFrntpHWuTGQUvJjQj7z1hwht8IEQOdgTwZ18MdTrzwNOmsE13cOIj700qKeyqrNrNiTRWJuJSXVtZQYzKQWGrDaJUFeLkweGMnd/SOJC/Ks9/NVJgtWm8TX3XEH4FXBV7kopMVC1vSH/hD7684eUNpTsIfEkkSeHfQsrtrWP8t0+zeppB8oYsgdcfQcHtHc5rR6UgqqeP77I/yeWkznYE+evTmeEyU1bE4u4vMdmZht9lNlX/s5mX5RvkweGElMgAcCcBICV2cNXnotnnodJouNkmozRVW1fHcwl9X7szFZ7ET6ueHv4Uy4rytDOwUysmsQPcN9LpjT6OQNx5FRBV/loij+YDHGgwcJW7igXrEHWJqwFD+9Hze3v7mJrWt4EjbncOCXLLoPDVfF/goprzHzxi8pfLYjAzdnDc/f0pXJAyJP+cNnXNfhrPIr92azbEcGj3118KKu4aJ14tY+Ydx/dQydguvvwauogq9yERgPJ1C8aBFet9yM1+jR9ZZJLUtlS84WZvWahV7buv3bWUdL2fxlMlHd/RlyR71xCSoXyf/25/Cv7xOpNFq4q38kj4/oiL/H+SNQfNycmXZNex4YHMP+rHIqTRaklNjsiu+/0mSlymRBr9Xg7+GMn7sz3UK9HdoV01Cogq9yXuwmE7n/+AfagACCn3nmnOU+OfIJeo2eiZ0mnrNMa6Cm0sz6pUfwCXLjxqldcVLDLi+LKpOFZ79NZPX+HPpF+fLi+G4XHOD8M05Ogr5Rvo1kYdtEFXyV81K0cCHm9HQiPlqCxqv+H2xhTSFr0tdwe9zt+Opb7w9USsmvnx7FXGNl3KO91LDLy2R/ZhmPfnmAnHIjj4/oyKxhsWjUNQFaBOo3WuWcFC/+kNJPPsV38mQ8Bg+ut4yUkg8PfYhd2rk3/t4mtrBhObQxm4yEEnXd2cvEZpe8tzGVNzakEOylZ8VDA+kb5dfcZqmchir4KvVSvGgRRW++hdfYsQTNnVNvGbPNzLwd81idupo7Ot5BhFfrHdwszKhk2zepRHX3p/vQsOY2p1VhsthIyKngP+uS2HWilHG9QnlxfDe82kDUS2tDFXyVsyh6912K334H73G3EPLyy6cWMjmdEmMJj296nH2F+3iox0OtOu7+2I48fvsiCVcPZ4bf20VNb3wRlFab+XjrcX45WkhSQRU2u8TDRcvCiT2Z0Du8uc1TOQeq4KucQfWOnXViP46Ql1+qV+yNViPTfp5GVlUWr177KqNiRjWDpVeOxWxjy5fJHN2WR2icDzdO7YqrpxrpcT4KKk188Fs6y3dlYrTYGNTen5nXdaBHuDdXRfupkTItHFXwVU4hzWbyX3gBXXg4wc//q16xB3h9z+uklqfy/g3vMzisft9+S0dKyU8fJpCRUEK/MdFcNTZajcg5D1JKvtiVyStrj2G02BjfK4yZQ9sTG6jGvLcmVMFXOUXJJ59gTk8n/P1FOOnrj6XfmLmRr5K+4r74+1qt2AMc3pRDxuESrpkYR49hrXfsobEorzFTbDBjsdkx1FpZuD6ZbWklDI715+UJ3Ynyd29uE1UuA1XwVQCw5OZS/N4iPG4YjufQofWWKaop4rltz9HFrwuP9HmkaQ1sQEpyDWxblUpUN3+6D1X9zaD04E+U1LDhaAE/JxawJ6OU0zP/erhoeeXW7ky6KkId42jFqIKvAkDBK/NBSoLnzq33uNlmZs6WORitRuZfOx9nTev01VotNtZ/dARnVw3Xt/EB2mJDLav35bDzeAn7M8spqTYDSjKzv14fR1ygBzqNEzqNoHu4N4GerXsGtYqDCr6Usk3/kC+V0s8/p2r9eto99hi6sLNDEq12K09ufpJd+bt4ecjLtPdunevTSinZ+nUqJTkGxs7q0WaXJdybUcqn2zNYezgPi03SPsCdoZ0C6RPlwzWx7Yj0d2tuE1UaCYcTfGmxkPngdDxvuAHfyXerwn8BqjZtouCll/EYNgz/aWevTmWXdp7d+iwbMjcwp/8cbu7QehOj7V2XQcLmHHqNiCS6e8vKU94UHMuvZP6Px9iUVISni5bJA6L4y8BIdeC1DeFwgm+vrUW4OFMwbx41u3YRMu/Fc6YEaOuYjh4l5/En0HfuTNhrr54VlSOl5OWdL/N9+vfM7j2byV0mN5OlV07ilhx2fptOx/5BXD2hw4U/4CBYbHZ2Hy9l1b4cvtmfjaeLlrmjO3PPoKh6l/hTcWwcrsU1Hh5E3BlFaadJFP53JaZbjxC24HVce/RobtNaFKakZLIemoHGy4vwRYtwcj876uKTxE/4KukrpnSdwoPdH2wGKxuGlD0F/PZFEpFd/RS/fRvI61JiqOWFNUf49WghVbVWXLROTBsSw6xhsfi4tU1XlooDCj7GMsTBz/GvysXt0cnkLD/Cibsn0272bPynTT1nbHlbouL7NeQ9+yxOHu5EfrAYXVDgWWU2Zm5kwd4F3Bh1I3/r+7dW6RozG61sXZnCka15BMV4MWp6dzRax4+1t9klj355gN0nSpnQO4zrOwcyJC5A7dGrOKDgu/rCw9vgp6dx3f8ZMTd1Ji/5KooWLqT6998J/fd8dKGhzW1lsyCtVgrm/5uyZctw7deXsAUL0AWeLfZJpUn8Y8s/iPePZ96QeTiJ1ieSOcll/PLxEarLaukzMpKrbopBq2sbN/v3Nqbye2ox82/tzqT+kc1tjkoLovX9ki8GvTeMewcmr0QjKwgL/5GQ2RMxJiaSNmYshQvfwGYwNLeVTU7By69QtmwZvvfeQ9TSpfWKfY2lhtm/zsbT2ZO3r3+7VS5VWJpbzZp3DqLVabj1730ZNCG2zYj9jvQSFv6SzPheoUy8Sp1Q1mqxWRrltFcs+EKIF4UQh4QQB4QQPwsh6u0+CyHuE0Kk1L3uu9Lrno+aSiWemLgRMP03RFAXfIreoP1zE/C8YTglH3xA2o0jqVjzQ2Oa0aIoXfY5ZV98gd+UKQQ/9RRCV38mw0+OfEJedR6vXfca7dzaNbGVV47FbOOnJQnoXDSMf7w3we29m9ukJqOwysQjy/cT7e/OvAndW6Ubrs1Tmg6rZ8B/R4KUFy5/iTRED/9VKWUPKWUvYA3w7J8LCCH8gOeAAUB/4DkhRKOslGE121jx0i6+fWM/BScqwTMI7v8B4sfhvP9VwobaiF7xJc6RkeQ++SRVv/7aGGa0KAxbfqfgZSX0MvD/njhnuWJjMUsTljIiagS9A3s3oYUNx5avkinNq2bElK64e59/KT1HorDKxN0f7qTSZOGdu/vg4eJ43tpWjd0OB5bDG93hzV6w/T0wVSjHLEbI3gPf/hXe7geJqyFyEFhrG9yMK/5WSCkrT9t0B+q7LY0E1kspSwGEEOuBUcDyK73+nxFCIHqVUbDHysr5e2jfqx39b47B//alsCEatr6Ba20VkUs+IGPKNHIef4Kozz7FtXv3hjalRWBKTibnscdw6dix3tDL03n/4PtYbBYe6d060yYk7czn6NY8+o6KIiK+7Sy8UVBp4q4Pd5BfYeLjKf2JD1XDkFsUx7fAurlQcBhCeoFWDz/NhY0vgXcEFCeDtIHGBfpPhyF/A8/gRjGlQboBQoiXgHuBCmBYPUXCgKzTtrPr9tV3runAdIDIyEsfcKqR1bwvX8Ycb2WccQqao4L0A0VEdvWnz41/I1Tvg9jwL5xqDUS8tZAT99xP1oyZRH/1Jc7hjpVXxZKTQ9a0B3FydSXivXfrDb08yfGK46xMXskdHe8g2ju66YxsAEzVFnZ9l07C5hxCYr3pf3NMc5vUZGSUVDNl6W4KKhWx7x/Tdm50LR67HX77t/LyiYDbPoKut4KTE+Tuh11LoKYYutwEwT0gciB4nD2u1pAIeRF+IiHEL0B9t5ynpZTfnlZuLqCXUj73p8//X93+eXXb/wSMUsrXznfdfv36yT179ly4Fn+izFTG50c/54tjX2CutjGqZhIRJ3pirYHQOB+u7XoY/x2PQMRAavv9ixPTH0MXFETMqpXn9G23NqylpWTcPRlraSlRn32GvlPHc5aVUvK3jX9jR94O1t66Fn9X/ya09PKRdsmxHXlsX52GyWCh23XhDBjXHhdXx3dnmCw23v8tjfc2peGicWLplKvoF62KfYuhphS+mQ6p66Hn3TD2dXBumpQVQoi9Usp+9R67GMG/hAtFAmullN3+tP8uYKiU8qG67Q+ATVLK87p0LlfwT2IwG/g6+Ws+PfIpZYYKrq+ZQFzqIKTZiR7dTfQrfgS9s5Wq4IfJfmUpgX//O/5TH7js67UUbIZqMqdMoTY5mcj/foRb3771lpNSsi13G2/vf5vEkkRm957N9B7Tm9jay6Moq4rNy5PIT68kuL03197VkXYRjpkiwGSxsTejjKN5lVQaLVSarGxMKiSjpIabeoTwzNh4gr3VxGbNiqkC9n4M+YeVgdfiFMU3P+Y/0HcKNOEAeqMKvhAiTkqZUvd+NnCdlPL2P5XxA/YCfep27QP6nvTpn4srFfyT1Npq+Tb1Wz5O/JjC0hL6Z91EfMHVCMDbpYRAcRSvwiJ8jm6jw9of0IWEXPE1mwuboZqshx7CeOAA4W+/jef19XnYIL86nzlb5rC3YC8h7iHM6DmD8bHjW3zMvc1iZ9vqVA5vzEbvoWPQhFg6Dwx2yNmzPyXms2xHBruOl1JrtQOKbni6aIkOcOcfozozOLbt5QRqUVjNsOe/itvGWAo+keDXHnxjoM+9ENbnwudoYBpb8FcBnQA7kAHMkFLmCCH61b2fVlfuAeCpuo+9JKVceqFzN5Tgn8Qu7aSUpbA1dyu7Dx+mJt2JLrZeBJX6UWNyJTz3N3pHlhH5zlsNds2mxGYwkPXgdIyHDhH2+mt4jap/6cHksmRm/jKTGksNj/R5hNvibmsV6Y6NVWZ+fP8weWkVdLs2jAHj2qN3dwwX3OkYzTZeWJPI8l1ZRPu7MaxzINfEBdA7whcvVx0aB7y5tWiKUyHlZ6guAlM5GMuUHr2pAsqzoLoQYq6FES9AaPNHtzWZS6ehaWjBPx0pJcuPLefVPa8S5BrMAyduoyi1PX6lRxj5QEf8Rt3YKNdtLGxVVWRNexBjYiJhr7+O18j67d+dv5tHf30UV60r793wHp38OjWxpZdHSY6BH947RE2lmeH3dSGuX1Bzm9QoJBdUMevzfaQUGphxXQeeuLEjOnXpxabHXA37PoNDX0HuPmWfk1aZya/3USZ36r2V7Z53QezwJnXbnA9V8M/DwaKDPLHpCQpqCuiaN5Brjt+JvraIMcMSCOnVU7lze7VsF4/NYCBr6jRF7Be8jteN9Yv9uhPreGrLU0R4RvD+De8T4tFy62U2WTm4IYuSbANlBTWUF9Sgd9cxZmYPgmIcM+zwSG4ld324A51GsODOXlzbsfVNfGtV2G2QtBYKj0HXCRAQq+xP3wTfPQLlGRDcHXpMVI57hbUYUT8fquDXUWG04KxxwtX5zFj0KnMV+wv3c7ziOOVr9uCaNByrTs8wn/fp4rULpv0CQfENZkdDYjNUkzVtGsaEBMIWLsBrxIh6yy07soz/7P4PvQJ78fb1b+Pt0nJnoBqrzKx55yCFmVX4BLrhE+SGb7AbPYaF4+HrmIOTKQVVTFy8AxetE19NH6QuQlKWoUxASv4JtM7gFQ7e4dBzouIj/zM2i9IrN1eDewBozzPprrYK9n4Cuz6A8sw/9kdfA54hcHgF+HWAW96C6CENX7dGRhV8lBwjM5btJdhLz6qZV+N+npmIax+bSlnuVZT7dqSL5+9cG74W7Yz14NKyokBshmqyHnwQ4+HD5+zZ26WdN/a+wdLEpQyPHM78a+aj17Zc0awsMfL9WwepKjUxclpXYno6fi83rcjApMU7AFjx0CBiAtroAuEWIyR8o0S7ZO9S9oX0BCcdVOZAVb7yGxy/SIldB0jbCD8+qUxeOolHMAx7Cnr/BZz+NNEwcwd886Ai9JFXw8CZEN4PDn4J+z5RfPJXz4ahc0DX+vJIgSr4rNiTxdOrDxPsrSenzMjIrsG8N7nPOXON2IxGdo0ZRrbXNRSGjCZQl8qo/gfw/Mu7LeaRTtrtZM2YQfXWbYQtWFCvz95sM/PM78/w44kfmdhpInP7z0Xz5x9AC6Ik18D3bx7AarEz5uEehMb6NLdJjYaUkn2Z5SzbkcEPh/Lw1Gv5cvpA4oJaVqei0Sg8CjsWgXACFw+wmCBhpTIgGtAJek5S3Ch+p02iK8+EFfcqk5YG/RUMhUpv3DdG8aO7eCg9+4NfKTeMdl2g/4PKObwjFH/8lteV9+MXQfTgM22y28FSo5ynFdNmBT+rtIbFm9P5bEcGQ2IDeHdyH77ek8W8H47yxIiOzB4ed87PVh3YT+bdd7OlR0/M/vfhKo2MHWkgdNy9l21PQ1L01tsUv/cewf96Dt9Jk846XlFbwSO/PsK+wn082udRpnab2qKTaRVmVPLdWwfQaJ245ZFe+Ie17h/d+aiosTBj2V62p5fg4aLltj5hTLumPRF+bcCNIyXs/wzWPqmIvbMb1BrAboXOY+CqBxU3yrm+q9Za+PEfsHcpaJxhyOMw5DHQ6c+8xtHv4Jd/KTHxp9PrLzB6fot7Wm9I2pTg2+ySzclFfLYjg41JhQjgnoFRPHNTPDqNE1JKHl9xkNX7c3j37j6M7XHugcvct9+k4t33SegQSlqHaXiYAxjQr5x+D9zerHHfVRs3kj3zYbwnTCDk5ZfOEvL08nQe3fgoOYYcXhryEqNjRjeTpRdHbkoZa949hN5dx7i/9ca7Xet8lL4YiqpqueejnaQXVTN3TGfu7BdxXveiQ2C3Q1UelKYpvvOEldB+KExYrCQ3BEWkL6VDkvYr+ESB/3mWq7TboCK77pWl5KdpP/Ty69FKaFOCX2O2MuClDbjoNEy6KoK7BkQS5nOmgJgsNiYu3sHBrHLGdg9hzujO9faupJRUfvcdeS+8QI3QsG7gRLytvYlsV8gNT9yMq0/T+1rNGRkcv/0OnCMiiPric5z0f/RsrHYrHyd+zKIDi3DTufHGsDfoG1T/LNuWgM1mJ+G3HLavTsPLX88tj/bGw9dxM1xml9Vwz0e7yK8wsfjevlwT5+DjE3YbbHoFtr+ruEoAhEbxrw95XMkpo9LgtCnBB0jIqaBjkCfO51nOzmi2sXhzOot+S8UuYdbQWGYN64C2nphnc3Y2uU/+g5p9+9ja6xrMPrfipjNz9cQedLw6qsl6++bsHDLvuw+7wUD0qlVow0I4XnGcHEMO2VXZfJf2HYkliYyIGsFTA54iwLVlzcI0m6zYbRIk5KVXsG1VKuUFNYR39uXGqV1x9Wz5k7/OhZSS8hoLuRVGCipN1FrsWOwSs9VOSkEVB7LKOZRdgVYj+HjKVfSNcvC8N4ZCWDUVjm9WfPHR1yi98XadGy0TpIpCmxP8SyGvwsjLa4/x/cFc+kf78eZdvQjxPtulIG02SpYuJe+NhZR4hXK8+yRqRAwBER4Mvi2W8M6N+wM2Z2SQcf8U7DU1RC5ZQnGUN3N+n8OhokOnygS4BjCn/xxGRo9sVFsuFVO1hU3LjpG2v+iM/T5Bbgy+LZao7v4tenyhPkwWG6v353Aou4KjeZUkF1RRY7bVW9ZZ40SXUC96hXszeWAUHR19YDZnLyy/W5mVOnYB9J7c3Ba1KVTBvwhW78/m6dUJuGidWDCxF8M61Z+mtCIpkZ2z7yE808TB7n0oCrkNjdmb0J4e3Hh3z0ZZdKM2JYXMqdOQZjMR//2Idbok5u+aj8ZJw+zes+ni14Vwz3D89S1POAuOV/LTkgSqy2rpOTwCdx8XhBPoPXR06BOIphXOIj2YVc7jKw6QVlSNl15LfKgXnYO9iPBzI9RbT5C3HjdnDVongcbJiVAfPS7alhsd1aDk7INPxykzUCd9rkxcUmlSVMG/SNKLDMz6Yj+phVUsf3DgOdPN5lXmsPm1v9Plm/3UarWsvWYEvtZRSK2ddkMlt44Zjt710t0T5uwcbCXF6CIj0fj4UJuURMmHS6j88Uc0vr6E/ncxrxR9zndp33FV8FW8PORlgt2b5/HYUFZLcVYVlSVGKktMAMokqUBXEILirCoKM6pI21uIu68LI6d1a5UzZPdmlLFidxY+7jpCvV3JrTCyZMtxAj1dmH9bD66NC2hxN9lmI+8gfHKzknpgylplopRKk6MK/iVQYbQw7p3fqTbb+P6vQ86bdrY2PY28h+7EmFVDhX8o+7pOQjp1QDrZCYnxIaKzH12GhML+bZQs+Qhps6L1D0AbEIDnyBvxGKzEAUspKV/xNQXz5iEtyuLFTp6e2KuqcHJzw+euSbj9ZSJPJr7C7zm/M7PnTB7q8VCTx9TbbXZOHC7hyO+5ZCaWnFpyU6tzQqJksjwdD18XIuL9GHxbLC5uLTPJmZSSIkMtx4uqsdolfaN80es02OySdzem8uaGFFx1GsxWO2abUr/b+4bzz5vi8XZtmXVqFnL2wbLbQOemiL1vVHNb1GZRBf8SSS6oYsK7W4kL8uSrhwae93FcGisxvHIHFduTqMpzp9QjjpzgzpQH98BKEE7SSuSJdXQQybiGBmEtLsGSn4+9shL3q68mYPZfKf96JRXffIP7kCH43jUJc1YWlsxMtCEh+N55JwY9PLzhYRKKE/jnwH9ye8fbz2lPY2C32Unamc+uNccxlNbi5u1M/OBQorr54xXgiqunDiQYymspL6hBSklAuCduXi1zENZml/yWXMgXO7PYnlZM9Wm+d73OicEdAqgwWtiTUcb4XqG8OL4b7s5aSmvMGM22thEvf7FUFytL9e39WJnhOuWH+lMfqDQZquBfBusS8pmxbC+39gnj37f1OH/GQrsNfp2H7deFVBm7kZDrildCNladP6mdb6fIpwfC3UrQOBud4yOJ0AdjXbWG4kXvYysvByDg4YcJmPXwWWvOZldl8/CGh8mpyuHf1/6bG6JuaMxqn4GUkuMHi9nxvzTK8msIjPKk7+hoorv749TCfe9mqx2bXZ7KmySlJLnAwJpDuazam01uhYkADxdGdwsmNtCD6AB37HbJpqRCfk0qpLzGwvO3dOXWPqpbol6kVFIRrH9WmTjV/0G47h/g5uDRR60AVfAvkzd+SeaNX1LoEe7Ngjt7Eht4geiKwyuVLHtWE0uiB/Hr8ROkhAp8a2O5Lm0SbmYv1sS/R6FnBv2C+nF/9J3Eb8rAtWs3PK45O0lTQnECszbMwmq38uawN+kXXG8bXhG1NRaObssjbV8hQTHe9Lg+HC9/VyqKjGz+Mpny9XHnAAASCUlEQVTMxBJ8g90YMK497Xu1axX+6vVHCpj7zWFKqmsJ83ElNtCD7DIjqYUGnAQMjg3grv6RjIgPqvdGLqVESnBS887Xj7kG1jwGh75UssmOfhUCOze3VSp1qIJ/Baw9nMfTqw9TbbYxZ1RnpgyOPr/oGQqVfB17/stRnQ5r33vx6T8TrcmNH988Sm2NBXlTBqvLl5NfnU+0VzSd/TpjspmotdbionHB39Ufd507K5JW4O/qz3s3vEd770t7TLbU2qgoMlJRVIOhtBZQZrIDWM12LLU2DKUmUvcVYjXb8Qt1pyy/BqQkoosfOSnlODkJBtzSnu5Dw1p8jx6g0mThhe+PsHJvNl1CvLgxPoj04mpSCw34uOoY0yOEUV2DaefpuJO7GgUpobZScd9U5sC6uVCQqCQYu/ZJdQJVC0MV/CuksMrE3FWH2XCskGfGdmHaNRchvuWZ8NPTSk6PiIEw4X0q7cGsfn0fVoudQbe1J0V/kFV5X1JWW4aLxgUXrQsmq4kSYwlltWX0bNeTBUMXXNQEquykMo5tz6Oi0EhlsZGaSvP5PyDAxVVLTK929BgaTrtIT6pKTRzemE3SrnxCOngz5I6OrWbma3qRgfuW7iKnzMjDQ2N5ZHjceSfeqZyH6mLI3K7E0+fsg7wDyupOJ9H7wG0fQVzTuRdVLh5V8BsAu10y64t9rEvMZ9HkvozqdhHhkFLCoRWw9v9A2qHPvZSHjOfbr6ynet3uPi5E9wigy6AQAqM9Tz092KUdgTi1LaXEbLRiKKtFSolPkBtanYaaSjNbV6aQvKsAvYcO/1B3vAJc8QpwxTvQFZ9ANzz8XJTzSJBIdM4aNDqnVuGeuRgOZJXzwMe7EcDie/s6/izWhsZihONbIOUnOPE7FB1T9jtpIagrhPZRZsm6twO3ACVlsYeDp4VoxaiC30CYLDYmLd7BsfxKvpw+iF4RF5m+tzwLfn4akn4Emxm7VzQlvZ8nj37kppSTcbgYq8WOb4g7XQaF0Glg8KkIl9yUcvb9lEFuSjmW2j+iSYQA70A3airNWM02+oyMou+oKLTObWSCTx0bjxXy8Of7CPB05tMHBrTdXPKXg6FQySWftA6sRtC5Q9TVda/BirDrWu7aCSr1owp+A1JsqGXCe1upqbWxcOIlLkNnqoBja2HXYmWdzBueh8GPYjbZSN1byNFteeSnV+DkJIjuGYCxykxeagWunjpi+wbh6a8/5WIpzaumNLcaIQQDbonBN7jtCJ2Ukm1pJSzalMbvqcV0DfVi6ZSrCPRUxemiydoNK+4BY7myUEinURA1RBV4B0AV/AYmrcjA9E/3kFZUzZ39wnl67CVOwrHWwuoZkPgN9J8Oo+afWpmnNK+ao1tzObYjH63Oid43RtJlcCi6enruJouNPSfKyK0wklduQqsR3Hd1NB6NlG7XarMjockW1bbZJdvTSvhmfzbrjxQA4KXXIQRklxlp5+nC1CEx3DMwyvFTDJ+LjO1w5FvF5RLcAwLi6pb7M0BNibJYSPYeKDqqLBMY1BU0Otj8GniHwcRlavoDB0MV/EbAZLHx5oYUFm9OJ8DDmS8eHEiHdpewaIfdDuv/CdvfgdgRcOviM2KYpV2C4Jx+9pSCKmYs20taUfUZ+0O89bw4rhs3xAed//oWkyIGzu7KOp5u/ueNtth9opSZy/ZSa7Fzbcd2DO8SSKSfG1UmK5UmCx2DPOkScuWpE6SUHMqu4PuDuaw5lEd+pQlPvZYb44Px1GupNFkwmm0MiQvgtj7h6HUO6sKqKlAW09a6QJdbzm6b2ir45XnY/aHia7dbz30uj2BF6CtzoDgFpA3iblS+c66+jVoNlaan0QRfCPEiMA6wA4XA/VLK3HrK2YDDdZuZUspbLub8LVnwT3Iou5z7l+7Gz92Z/80afOm9690fwbo54BEEd3ysrK95Ab49kMOcVYdxd9Hw4rhudAvzJtDLhcTcSuauOkxSQRXXdWxHbKAHXnodgV4ujOsVipuTHY59D0e/h5T1Si/wJE5a0OqVfOUaLQR0hIgBEDmQjenVrNiaSJS7DX1EL77I8KKwqvYMm5wElx0dU1RVy87jJWxPK2FLSjGZpTXoNILrOgYyoXcYw7sEOq6wn47Noiz7d/BLKEz8Y3/k1XDTQiXW3VAER7+F399QFvYYMAOuf0bJTJl3SFnhSacHZw9w8YKQHuAV9sfiIhYTVOWCT7QaTumgNKbge0kpK+vePwLESyln1FPOIKW85DXrWoPgA2xLLeYvH+1kRHwQiyb3vfQJOzn74Ov7oDIP+t6vrMoTdbUiwIVHqDyxj4RSwS+yPwdyDOzLLGdYpI53g77D7cQGZbFlZ3fwCMQWfS0ryjvxzmEd5UYL1WYbemqZ7v47M3Q/4GbKx+7WjuMB1/GzuSdlBiPOxgI8LMVEeDoR186NKB8tTgUJaPIP4SQtZ5kr21/P8c4Pku3dDw9XHW7OGj7cfJxV+7LpFubFv27uSpcQr3O6WSpqLPyWUsSO9BJ2ppecekpxd9bQP8aP0d1CGNk1GO8Wmn8HUGZXGwqUp6OGiHbK2QvfPQoFhyFyEHQcCe2HQUEC/PyMMps1rA9k71YivoK6w9jXIXLAlV9bxaFoEpeOEGIuECmlnFnPMYcWfIAlW9KZ98NR/j6yE7OGxV76CYxl2NY8gVPSDwirCRBIIRDyj4RkmTKINd53ERvix4istxDGMuhys+L/N1dD2Yk/QupcfcHZA6nRYTOUoDVXsMveiZWud/CtoQu1NnFqFmqgpwseei2bkoo4XlyNxklgs0tcMNNbe5yx8YHcdV13tC7uyryCHYugulARptH/UXqRwLqEPOZ+c5iyGuUmEejpQod2HnQK9qRLiBJyui4hny0pRVhsEg8XLf2ifRkQ48+gDv50C/WqdwGaRkNK6qbUXlzZgkRI/QUytkLmDmUyUsfRMOY/4BN5eTaYa5RcNDveA/dAGPua0qanU12spDDIOwgdR0G3WyEwvmFuNCoOR6MKvhDiJeBeoAIYJqUsqqeMFTgAWIH5Usr/ned804HpAJGRkX0zMjKuyL6mQkrJo18e4PtDubw5qTe39Ay9qM+V15hZf6SAn48UsDm5CK20MNY/l+v1yeSUGNhpDCW441VM71RD2KG3EXkHlQ+G9YWb3zx7wK0iB9I2KE8NNrPyctJh7/UXVpVE8vXebHpH+DC2Rwjdw7zPGCM46T9fl5iPv7szvSN96RrqdbY7xWKCA5/DxpfBWAp9p0DX8VCcjCn3CCXFhZTaXCgyO3O4Nogl5f2osijXCfNxZWyPEEZ3C6Z7mHfTCjxAVb7iGz/5qi4Gvxjwj1NuXN3v+GOdVLtNWbHpyP8UF1hljrI/oKPyBOYWoAg1KHlkBsy4tCiX41vgu9lQdlz5H454HvTeDVhZlbbIFQm+EOIXoL5ZRk9LKb89rdxcQC+lfK6ec4RJKXOEEO2BX4HhUsq0Cxnemnr4oCybeN/SXew5Ucrrd/ZkQu9zJ96y2yVf7Mpk/o/HMNRaCfXWMyI+CL2zhsScShJzKwj3dePpsV0Y2N5f+ZCUkLoBaisgfvypyJ5mw1gGG19RBg5PPok4eyqDz2YDmCrBbkH6x1E48GmKQ4cRH+rddBO+LCZl8erS45C1A1J+hvy6oSRXPyUPjE+k4vcuSYXiZKUe4f2VG+mxH8CQr9SpwzBloDP2BvA6beH78qy6WPa1Sg99wHToN1WZjVpdpPjLrbV1TxN1i3mXpCp2HFsDvjFwy9sQc03T/E9UHJ6mculEAmullN0uUO5jYI2UcuWFztnaBB+URdSnfbKH7ekl/Pu2HtzZL+KsMmlFBp765jA7j5cyJDaAv4/sRI/wJhTChqY4BcozlPVKTx8glBKS18HP/4SSFOW4c51nT+MMPhGK4AZ0hE6jwaUBlv6rLoFDX8H+ZWcOfAqNMggddwN0GK6EMP7ZlVOZB4dXwIHliih3HKn0+DuOunDPPX0TbHtbcflonJW6288e/6gzRlkcpOt4GPoUOKvpllUajsYctI2TUqbUvZ8NXCelvP1PZXyBGillrRAiANgOjJNSHrnQ+Vuj4IPS05/+2R62pBTTMciDjkGetA9w50RJDfsyy8guM+Kl1/LMTfHc0Te89Qr9xWKzKPnSk34EJCDAalJ6x5XZSs/X2QO63w79HlBmeF4KUip+9d0fKb1mmxnC+kHcCKUH7RutRLhcrLtESsWdo7mM2P6CRDjwhRL15B0OXqHKoLoSY6tEY/nGqBOcVBqNxhT8VUAnlLDMDGBGneumX937aUKIq4EP6so4AW9IKT+6mPO3VsEHJU5/8eZ0DmaVk1xYRVapkSAvF/pG+dIn0pdbeoYS6KX+6LFZIPeAckNIWKVM8R8wA0a8oMSggyLARUmKr117WjI3qxn2f6bMXC46pgh6z7ugz71K3LmKShtEnXjVAjBb7eg0wvF781eCsRw2zYedi5Re/oQPlHDF7e9C4RFlAtHAGdDnPsUfv/ElJStpSC9lAY6ut6ruEZU2jyr4Kq2LY2vhfzOVyUQAgV2h92QlUiZ9o5LYX9oVP/wNzyk+efVGqqICnF/w22gCEpUWTecxMHMr7FkK0YOVCUhCwKBZivvn0FfKjOT4CepsURWVS0AVfJWWiXc4DP/n2ftDeykvFRWVS0btHqmoqKi0EVTBV1FRUWkjqIKvoqKi0kZQBV9FRUWljaAKvoqKikobQRV8FRUVlTaCKvgqKioqbQRV8FVUVFTaCC06tYIQogglKdvlEAAUN6A5rYG2WGdom/Vui3WGtlnvS61zlJSyXX0HWrTgXwlCiD3nyifhqLTFOkPbrHdbrDO0zXo3ZJ1Vl46KiopKG0EVfBUVFZU2giML/uLmNqAZaIt1hrZZ77ZYZ2ib9W6wOjusD19FRUVF5UwcuYevoqKionIaquCrqKiotBEcTvCFEKOEEElCiFQhxJzmtqexEEJECCE2CiGOCCEShRCP1u33E0KsF0Kk1P31bW5bGxohhEYIsV8IsaZuO0YIsbOuzb8SQjg3t40NjRDCRwixUghxTAhxVAgxyNHbWgjxWN13O0EIsVwIoXfEthZC/FcIUSiESDhtX71tKxTeqqv/ISFEn0u5lkMJvhBCA7wLjAbigbuEEPHNa1WjYQWekFLGAwOBWXV1nQNskFLGARvqth2NR4Gjp23/G1gopYwFyoCpzWJV4/ImsE5K2RnoiVJ/h21rIUQY8AjQT0rZDdAAk3DMtv4YGPWnfedq29FAXN1rOrDoUi7kUIIP9AdSpZTpUkoz8CUwrpltahSklHlSyn1176tQBCAMpb6f1BX7BBjfPBY2DkKIcGAssKRuWwDXAyvrijhinb2Ba4GPAKSUZillOQ7e1ihLsLoKIbSAG5CHA7a1lHIzUPqn3edq23HAp1JhB+AjhAi52Gs5muCHAVmnbWfX7XNohBDRQG9gJxAkpcyrO5QPBDWTWY3FG8CTgL1u2x8ol1Ja67Ydsc1jgCJgaZ0ra4kQwh0HbmspZQ7wGpCJIvQVwF4cv61Pcq62vSKNczTBb3MIITyAVcDfpJSVpx+TSsytw8TdCiFuAgqllHub25YmRgv0ARZJKXsD1fzJfeOAbe2L0puNAUIBd852e7QJGrJtHU3wc4CI07bD6/Y5JEIIHYrYfy6l/KZud8HJR7y6v4XNZV8jMBi4RQhxAsVddz2Kb9un7rEfHLPNs4FsKeXOuu2VKDcAR27rG4DjUsoiKaUF+Aal/R29rU9yrra9Io1zNMHfDcTVjeQ7owzyfNfMNjUKdb7rj4CjUsoFpx36Driv7v19wLdNbVtjIaWcK6UMl1JGo7Ttr1LKycBG4Pa6Yg5VZwApZT6QJYToVLdrOHAEB25rFFfOQCGEW913/WSdHbqtT+NcbfsdcG9dtM5AoOI018+FkVI61AsYAyQDacDTzW1PI9ZzCMpj3iHgQN1rDIpPewOQAvwC+DW3rY1U/6HAmrr37YFdQCrwNeDS3PY1Qn17AXvq2vt/gK+jtzXwPHAMSAA+A1wcsa2B5SjjFBaUp7mp52pbQKBEIqYBh1GimC76WmpqBRUVFZU2gqO5dFRUVFRUzoEq+CoqKiptBFXwVVRUVNoIquCrqKiotBFUwVdRUVFpI6iCr6KiotJGUAVfRUVFpY3w/1gupCsncUGKAAAAAElFTkSuQmCC\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "xs = list(range(len(rewards_ppo[\"longpre\"][0])))\n", "plt.plot(xs, smooth(np.mean(rewards_ppo[\"longpre\"], axis=0), 0.9), label=\"PPO\")\n", "plt.plot(xs, smooth(np.mean(rewards_model[\"longpre\"], axis=0), 0.9), label=\"Model-based\")\n", "plt.plot(xs, smooth(np.mean(rewards_transfer[\"longpre\"], axis=0), 0.9), label=\"Transfer\")\n", "plt.plot(xs, smooth(np.mean(rewards_transfer_linear[\"longpre\"], axis=0), 0.9), label=\"Transfer-linear\")\n", "plt.plot(xs, smooth(np.mean(rewards_transfer_fix[\"longpre\"], axis=0), 0.9), label=\"Transfer-fix\")\n", "plt.legend()\n", "plt.title(\"LONGPRE: average reward over 5 runs\")\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": 43, "metadata": {}, "outputs": [], "source": [ "rewards_ppo = {} \n", "obs_types = [\"long-n\", \"longpre-n\"]\n", "for obs in obs_types:\n", " rewards_ppo[obs] = []\n", " for s in seeds:\n", " rewards_ppo[obs].append(read_reward(\"transfer_results/ppo_{}_s{}\".format(obs, s)))\n", " rewards_ppo[obs] = np.array(rewards_ppo[obs])\n", "rewards_model = {} \n", "for obs in obs_types:\n", " rewards_model[obs] = []\n", " for s in seeds:\n", " rewards_model[obs].append(read_reward(\"transfer_results/model_{}_s{}\".format(obs, s)))\n", " rewards_model[obs] = np.array(rewards_model[obs])\n", "rewards_transfer = {} \n", "for obs in obs_types:\n", " rewards_transfer[obs] = []\n", " for s in seeds:\n", " rewards_transfer[obs].append(read_reward(\"transfer_results/normal_transfer_to_{}_s{}\".format(obs, s)))\n", " rewards_transfer[obs] = np.array(rewards_transfer[obs])" ] }, { "cell_type": "code", "execution_count": 47, "metadata": {}, "outputs": [], "source": [ "rewards_transfer_trainaction = {} \n", "for obs in obs_types:\n", " rewards_transfer_trainaction[obs] = []\n", " for s in seeds:\n", " rewards_transfer_trainaction[obs].append(read_reward(\"transfer_results/normal_transfer_train-action_to_{}_s{}\".format(obs, s)))\n", " rewards_transfer_trainaction[obs] = np.array(rewards_transfer_trainaction[obs])" ] }, { "cell_type": "code", "execution_count": 49, "metadata": {}, "outputs": [], "source": [ "rewards_transfer_trainall = {} \n", "for obs in obs_types:\n", " rewards_transfer_trainall[obs] = []\n", " for s in seeds:\n", " rewards_transfer_trainall[obs].append(read_reward(\"transfer_results/normal_transfer_train-all-stopgrad_to_{}_s{}\".format(obs, s)))\n", " rewards_transfer_trainall[obs] = np.array(rewards_transfer_trainall[obs])" ] }, { "cell_type": "code", "execution_count": 51, "metadata": {}, "outputs": [], "source": [ "rewards_model_bisim = {} \n", "for obs in obs_types:\n", " rewards_model_bisim[obs] = []\n", " for s in [0,1]:\n", " rewards_model_bisim[obs].append(read_reward(\"transfer_results/model_bisim_{}_s{}\".format(obs, s)))\n", " rewards_model_bisim[obs] = np.array(rewards_model_bisim[obs])" ] }, { "cell_type": "code", "execution_count": 52, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "for obs in obs_types:\n", " xs = list(range(len(rewards_ppo[obs][0])))\n", " plt.plot(xs, smooth(np.mean(rewards_ppo[obs], axis=0), 0.9), label=\"PPO\")\n", " plt.plot(xs, smooth(np.mean(rewards_model[obs], axis=0), 0.9), label=\"Model-based\")\n", " plt.plot(xs, smooth(np.mean(rewards_model_bisim[obs], axis=0), 0.9), label=\"Model-based-bisim\")\n", " plt.plot(xs, smooth(np.mean(rewards_transfer[obs], axis=0), 0.9), label=\"Transfer\")\n", " plt.plot(xs, smooth(np.mean(rewards_transfer_trainaction[obs], axis=0), 0.9), label=\"Transfer-train-action\")\n", " plt.plot(xs, smooth(np.mean(rewards_transfer_trainall[obs], axis=0), 0.9), label=\"Transfer-train-all\")\n", " plt.legend()\n", " plt.title(obs+\": average reward over 5 runs\")\n", " plt.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "mlagents-env", "language": "python", "name": "mlagents-env" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.6" } }, "nbformat": 4, "nbformat_minor": 4 }