CS计算机代考程序代写 // Automatically produced by rddl.translate.RDDL2Format

// Automatically produced by rddl.translate.RDDL2Format
// SPUDD / Symbolic Perseus Format for ‘navigation_pomdp.navigation_inst_pomdp__1′

(variables
(second_step true false)
(robot_at__x14_y12 true false)
(robot_at__x14_y20 true false)
(robot_at__x14_y15 true false)
(robot_at__x6_y12 true false)
(robot_at__x6_y20 true false)
(robot_at__x6_y15 true false)
(robot_at__x21_y12 true false)
(robot_at__x21_y20 true false)
(robot_at__x21_y15 true false)
(robot_at__x9_y12 true false)
(robot_at__x9_y20 true false)
(robot_at__x9_y15 true false)
(min_x true false)
(first_step true false)
)

(observations
(sw_corner true false)
(nw_corner true false)
(ne_corner true false)
(se_corner true false)
)

init [*
(second_step (true (0.0)) (false (1.0)))
(robot_at__x14_y12 (true (0.0)) (false (1.0)))
(robot_at__x14_y20 (true (0.0)) (false (1.0)))
(robot_at__x14_y15 (true (0.0)) (false (1.0)))
(robot_at__x6_y12 (true (0.0)) (false (1.0)))
(robot_at__x6_y20 (true (0.0)) (false (1.0)))
(robot_at__x6_y15 (true (0.0)) (false (1.0)))
(robot_at__x21_y12 (true (0.0)) (false (1.0)))
(robot_at__x21_y20 (true (0.0)) (false (1.0)))
(robot_at__x21_y15 (true (0.0)) (false (1.0)))
(robot_at__x9_y12 (true (0.0)) (false (1.0)))
(robot_at__x9_y20 (true (0.0)) (false (1.0)))
(robot_at__x9_y15 (true (0.0)) (false (1.0)))
(min_x (true (1.0)) (false (0.0)))
(first_step (true (0.0)) (false (1.0)))
]

action move_east
second_step
(first_step
(true (second_step’
(true (1.0))
(false (0.0))))
(false (second_step’
(true (0.0))
(false (1.0)))))
robot_at__x14_y12
(second_step
(true (robot_at__x14_y12
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y20
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y12
(true (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))))))
(false (min_x
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0)))))))))
robot_at__x14_y20
(second_step
(true (robot_at__x14_y20
(true (robot_at__x14_y20′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y20
(true (robot_at__x14_y20′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y20
(true (first_step
(true (robot_at__x14_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0)))))
robot_at__x14_y15
(second_step
(true (robot_at__x14_y15
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y20
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y15
(true (first_step
(true (robot_at__x14_y15′
(true (0.3794908315564195))
(false (0.6205091684435805))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0)))))
robot_at__x6_y12
(robot_at__x6_y12′
(true (0.0))
(false (1.0)))
robot_at__x6_y20
(robot_at__x6_y20′
(true (0.0))
(false (1.0)))
robot_at__x6_y15
(robot_at__x6_y15′
(true (0.0))
(false (1.0)))
robot_at__x21_y12
(second_step
(true (robot_at__x14_y12
(true (robot_at__x21_y20
(true (robot_at__x21_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x21_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y12
(true (robot_at__x21_y20
(true (robot_at__x21_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x21_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0)))))
robot_at__x21_y20
(second_step
(true (robot_at__x14_y20
(true (first_step
(true (robot_at__x21_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20
(true (first_step
(true (robot_at__x21_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0)))))
robot_at__x21_y15
(second_step
(true (robot_at__x14_y15
(true (robot_at__x21_y20
(true (robot_at__x21_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x21_y15′
(true (0.05221908601621783))
(false (0.9477809139837822))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y20
(true (robot_at__x21_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y15
(true (first_step
(true (robot_at__x21_y15′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0)))))
robot_at__x9_y12
(second_step
(true (robot_at__x6_y12
(true (robot_at__x21_y20
(true (robot_at__x9_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y12
(true (robot_at__x9_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (min_x
(true (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0)))))))
robot_at__x9_y20
(second_step
(true (robot_at__x6_y20
(true (robot_at__x21_y20
(true (robot_at__x9_y20′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y20
(true (robot_at__x9_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x9_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0)))))
robot_at__x9_y15
(second_step
(true (robot_at__x6_y15
(true (robot_at__x21_y20
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y15
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x9_y15′
(true (0.6851940470126767))
(false (0.3148059529873233))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0)))))
min_x
(min_x’
(true (0.51))
(false (0.49)))
first_step
(first_step’
(true (1.0))
(false (0.0)))
observe
sw_corner
(robot_at__x6_y20′
(true (sw_corner’
(true (1.0))
(false (0.0))))
(false (sw_corner’
(true (0.0))
(false (1.0)))))
nw_corner
(robot_at__x6_y12′
(true (nw_corner’
(true (1.0))
(false (0.0))))
(false (nw_corner’
(true (0.0))
(false (1.0)))))
ne_corner
(robot_at__x21_y12′
(true (ne_corner’
(true (1.0))
(false (0.0))))
(false (ne_corner’
(true (0.0))
(false (1.0)))))
se_corner
(robot_at__x21_y20′
(true (se_corner’
(true (1.0))
(false (0.0))))
(false (se_corner’
(true (0.0))
(false (1.0)))))
endobserve
cost [+
(robot_at__x21_y20
(true (0.0))
(false (1.0)))
]
endaction

action move_north
second_step
(first_step
(true (second_step’
(true (1.0))
(false (0.0))))
(false (second_step’
(true (0.0))
(false (1.0)))))
robot_at__x14_y12
(second_step
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (min_x
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0)))))))))
robot_at__x14_y20
(second_step
(true (robot_at__x14_y20
(true (robot_at__x21_y20
(true (robot_at__x14_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y15
(true (robot_at__x21_y20
(true (robot_at__x14_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0)))))
robot_at__x14_y15
(second_step
(true (robot_at__x14_y12
(true (robot_at__x14_y15
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y20
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y15′
(true (0.3794908315564195))
(false (0.6205091684435805))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0)))))
robot_at__x6_y12
(robot_at__x6_y12′
(true (0.0))
(false (1.0)))
robot_at__x6_y20
(second_step
(true (robot_at__x6_y20
(true (robot_at__x21_y20
(true (robot_at__x6_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y15
(true (robot_at__x21_y20
(true (robot_at__x6_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0)))))
robot_at__x6_y15
(second_step
(true (robot_at__x6_y12
(true (robot_at__x6_y15
(true (robot_at__x6_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y20
(true (robot_at__x6_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y15′
(true (0.9459455218166113))
(false (0.05405447818338871))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0)))))
robot_at__x21_y12
(robot_at__x21_y12′
(true (0.0))
(false (1.0)))
robot_at__x21_y20
(second_step
(true (robot_at__x21_y20
(true (first_step
(true (robot_at__x21_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y15
(true (first_step
(true (robot_at__x21_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0)))))
robot_at__x21_y15
(second_step
(true (robot_at__x21_y12
(true (robot_at__x21_y20
(true (robot_at__x21_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y15
(true (robot_at__x21_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x21_y15′
(true (0.05221908601621783))
(false (0.9477809139837822))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0)))))
robot_at__x9_y12
(second_step
(true (robot_at__x9_y12′
(true (0.0))
(false (1.0))))
(false (min_x
(true (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0)))))))
robot_at__x9_y20
(second_step
(true (robot_at__x21_y20
(true (robot_at__x9_y20′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y20
(true (first_step
(true (robot_at__x9_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y15
(true (first_step
(true (robot_at__x9_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0)))))
robot_at__x9_y15
(second_step
(true (robot_at__x21_y20
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y12
(true (robot_at__x9_y15
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x9_y15′
(true (0.6851940470126767))
(false (0.3148059529873233))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0)))))
min_x
(min_x’
(true (0.51))
(false (0.49)))
first_step
(first_step’
(true (1.0))
(false (0.0)))
observe
sw_corner
(robot_at__x6_y20′
(true (sw_corner’
(true (1.0))
(false (0.0))))
(false (sw_corner’
(true (0.0))
(false (1.0)))))
nw_corner
(robot_at__x6_y12′
(true (nw_corner’
(true (1.0))
(false (0.0))))
(false (nw_corner’
(true (0.0))
(false (1.0)))))
ne_corner
(robot_at__x21_y12′
(true (ne_corner’
(true (1.0))
(false (0.0))))
(false (ne_corner’
(true (0.0))
(false (1.0)))))
se_corner
(robot_at__x21_y20′
(true (se_corner’
(true (1.0))
(false (0.0))))
(false (se_corner’
(true (0.0))
(false (1.0)))))
endobserve
cost [+
(robot_at__x21_y20
(true (0.0))
(false (1.0)))
]
endaction

action move_south
second_step
(first_step
(true (second_step’
(true (1.0))
(false (0.0))))
(false (second_step’
(true (0.0))
(false (1.0)))))
robot_at__x14_y12
(second_step
(true (robot_at__x14_y12
(true (robot_at__x21_y20
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y15
(true (robot_at__x21_y20
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))))
(false (min_x
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0)))))))))
robot_at__x14_y20
(robot_at__x14_y20′
(true (0.0))
(false (1.0)))
robot_at__x14_y15
(second_step
(true (robot_at__x14_y20
(true (robot_at__x14_y15
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y20
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y15′
(true (0.3794908315564195))
(false (0.6205091684435805))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0)))))
robot_at__x6_y12
(second_step
(true (robot_at__x6_y12
(true (robot_at__x21_y20
(true (robot_at__x6_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y15
(true (robot_at__x21_y20
(true (robot_at__x6_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0)))))
robot_at__x6_y20
(robot_at__x6_y20′
(true (0.0))
(false (1.0)))
robot_at__x6_y15
(second_step
(true (robot_at__x6_y20
(true (robot_at__x6_y15
(true (robot_at__x6_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y20
(true (robot_at__x6_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y15′
(true (0.9459455218166113))
(false (0.05405447818338871))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0)))))
robot_at__x21_y12
(second_step
(true (robot_at__x21_y12
(true (robot_at__x21_y20
(true (robot_at__x21_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x21_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y20
(true (robot_at__x21_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y15
(true (first_step
(true (robot_at__x21_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0)))))
robot_at__x21_y20
(second_step
(true (robot_at__x21_y20
(true (first_step
(true (robot_at__x21_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0)))))
robot_at__x21_y15
(robot_at__x21_y15′
(true (0.0))
(false (1.0)))
robot_at__x9_y12
(second_step
(true (robot_at__x21_y20
(true (robot_at__x9_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y12
(true (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y15
(true (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))))))
(false (min_x
(true (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0)))))))
robot_at__x9_y20
(robot_at__x9_y20′
(true (0.0))
(false (1.0)))
robot_at__x9_y15
(second_step
(true (robot_at__x21_y20
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y20
(true (robot_at__x9_y15
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x9_y15′
(true (0.6851940470126767))
(false (0.3148059529873233))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0)))))
min_x
(min_x’
(true (0.51))
(false (0.49)))
first_step
(first_step’
(true (1.0))
(false (0.0)))
observe
sw_corner
(robot_at__x6_y20′
(true (sw_corner’
(true (1.0))
(false (0.0))))
(false (sw_corner’
(true (0.0))
(false (1.0)))))
nw_corner
(robot_at__x6_y12′
(true (nw_corner’
(true (1.0))
(false (0.0))))
(false (nw_corner’
(true (0.0))
(false (1.0)))))
ne_corner
(robot_at__x21_y12′
(true (ne_corner’
(true (1.0))
(false (0.0))))
(false (ne_corner’
(true (0.0))
(false (1.0)))))
se_corner
(robot_at__x21_y20′
(true (se_corner’
(true (1.0))
(false (0.0))))
(false (se_corner’
(true (0.0))
(false (1.0)))))
endobserve
cost [+
(robot_at__x21_y20
(true (0.0))
(false (1.0)))
]
endaction

action move_west
second_step
(first_step
(true (second_step’
(true (1.0))
(false (0.0))))
(false (second_step’
(true (0.0))
(false (1.0)))))
robot_at__x14_y12
(second_step
(true (robot_at__x14_y12
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y12
(true (robot_at__x21_y20
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))))
(false (min_x
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0)))))))))
robot_at__x14_y20
(robot_at__x14_y20′
(true (0.0))
(false (1.0)))
robot_at__x14_y15
(second_step
(true (robot_at__x14_y15
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y20
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y15
(true (first_step
(true (robot_at__x14_y15′
(true (0.3794908315564195))
(false (0.6205091684435805))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0)))))
robot_at__x6_y12
(second_step
(true (robot_at__x6_y12
(true (robot_at__x21_y20
(true (robot_at__x6_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y20
(true (robot_at__x6_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y12
(true (first_step
(true (robot_at__x6_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0)))))
robot_at__x6_y20
(second_step
(true (robot_at__x6_y20
(true (robot_at__x21_y20
(true (robot_at__x6_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y20
(true (robot_at__x6_y20′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y20
(true (first_step
(true (robot_at__x6_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0)))))
robot_at__x6_y15
(second_step
(true (robot_at__x6_y15
(true (robot_at__x21_y20
(true (robot_at__x6_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y15
(true (first_step
(true (robot_at__x6_y15′
(true (0.9459455218166113))
(false (0.05405447818338871))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))
(false (first_step
(true (robot_at__x6_y15′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x21_y20
(true (robot_at__x6_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y15
(true (first_step
(true (robot_at__x6_y15′
(true (0.9459455218166113))
(false (0.05405447818338871))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0)))))
robot_at__x21_y12
(robot_at__x21_y12′
(true (0.0))
(false (1.0)))
robot_at__x21_y20
(second_step
(true (robot_at__x21_y20
(true (first_step
(true (robot_at__x21_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0)))))
robot_at__x21_y15
(robot_at__x21_y15′
(true (0.0))
(false (1.0)))
robot_at__x9_y12
(second_step
(true (robot_at__x14_y12
(true (robot_at__x21_y20
(true (robot_at__x9_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y12
(true (robot_at__x9_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (min_x
(true (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0)))))))
robot_at__x9_y20
(second_step
(true (robot_at__x14_y20
(true (robot_at__x21_y20
(true (robot_at__x9_y20′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y20
(true (robot_at__x9_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x9_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0)))))
robot_at__x9_y15
(second_step
(true (robot_at__x14_y15
(true (robot_at__x21_y20
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y15
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x9_y15′
(true (0.6851940470126767))
(false (0.3148059529873233))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0)))))
min_x
(min_x’
(true (0.51))
(false (0.49)))
first_step
(first_step’
(true (1.0))
(false (0.0)))
observe
sw_corner
(robot_at__x6_y20′
(true (sw_corner’
(true (1.0))
(false (0.0))))
(false (sw_corner’
(true (0.0))
(false (1.0)))))
nw_corner
(robot_at__x6_y12′
(true (nw_corner’
(true (1.0))
(false (0.0))))
(false (nw_corner’
(true (0.0))
(false (1.0)))))
ne_corner
(robot_at__x21_y12′
(true (ne_corner’
(true (1.0))
(false (0.0))))
(false (ne_corner’
(true (0.0))
(false (1.0)))))
se_corner
(robot_at__x21_y20′
(true (se_corner’
(true (1.0))
(false (0.0))))
(false (se_corner’
(true (0.0))
(false (1.0)))))
endobserve
cost [+
(robot_at__x21_y20
(true (0.0))
(false (1.0)))
]
endaction

action noop
second_step
(first_step
(true (second_step’
(true (1.0))
(false (0.0))))
(false (second_step’
(true (0.0))
(false (1.0)))))
robot_at__x14_y12
(second_step
(true (robot_at__x14_y12
(true (robot_at__x21_y20
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0))))))
(false (min_x
(true (robot_at__x14_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y12′
(true (0.0))
(false (1.0)))))))))
robot_at__x14_y20
(second_step
(true (robot_at__x14_y20
(true (robot_at__x21_y20
(true (robot_at__x14_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x14_y20′
(true (0.0))
(false (1.0)))))
robot_at__x14_y15
(second_step
(true (robot_at__x14_y15
(true (robot_at__x21_y20
(true (robot_at__x14_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x14_y15′
(true (1.0))
(false (0.0))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x14_y15′
(true (0.0))
(false (1.0)))))
robot_at__x6_y12
(second_step
(true (robot_at__x6_y12
(true (robot_at__x21_y20
(true (robot_at__x6_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x6_y12′
(true (0.0))
(false (1.0)))))
robot_at__x6_y20
(second_step
(true (robot_at__x6_y20
(true (robot_at__x21_y20
(true (robot_at__x6_y20′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x6_y20′
(true (0.0))
(false (1.0)))))
robot_at__x6_y15
(second_step
(true (robot_at__x6_y15
(true (robot_at__x21_y20
(true (robot_at__x6_y15′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x6_y15′
(true (1.0))
(false (0.0))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x6_y15′
(true (0.0))
(false (1.0)))))
robot_at__x21_y12
(second_step
(true (robot_at__x21_y12
(true (robot_at__x21_y20
(true (robot_at__x21_y12′
(true (0.0))
(false (1.0))))
(false (first_step
(true (robot_at__x21_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y12′
(true (0.0))
(false (1.0)))))
robot_at__x21_y20
(second_step
(true (robot_at__x21_y20
(true (first_step
(true (robot_at__x21_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y20′
(true (0.0))
(false (1.0)))))
robot_at__x21_y15
(second_step
(true (robot_at__x21_y20
(true (robot_at__x21_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x21_y15
(true (first_step
(true (robot_at__x21_y15′
(true (1.0))
(false (0.0))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x21_y15′
(true (0.0))
(false (1.0)))))
robot_at__x9_y12
(second_step
(true (robot_at__x21_y20
(true (robot_at__x9_y12′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y12
(true (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))))
(false (min_x
(true (first_step
(true (robot_at__x9_y12′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y12′
(true (0.0))
(false (1.0)))))))
robot_at__x9_y20
(second_step
(true (robot_at__x21_y20
(true (robot_at__x9_y20′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y20
(true (first_step
(true (robot_at__x9_y20′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x9_y20′
(true (0.0))
(false (1.0)))))
robot_at__x9_y15
(second_step
(true (robot_at__x21_y20
(true (robot_at__x9_y15′
(true (0.0))
(false (1.0))))
(false (robot_at__x9_y15
(true (first_step
(true (robot_at__x9_y15′
(true (1.0))
(false (0.0))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0))))))))
(false (robot_at__x9_y15′
(true (0.0))
(false (1.0)))))
min_x
(min_x’
(true (0.51))
(false (0.49)))
first_step
(first_step’
(true (1.0))
(false (0.0)))
observe
sw_corner
(robot_at__x6_y20′
(true (sw_corner’
(true (1.0))
(false (0.0))))
(false (sw_corner’
(true (0.0))
(false (1.0)))))
nw_corner
(robot_at__x6_y12′
(true (nw_corner’
(true (1.0))
(false (0.0))))
(false (nw_corner’
(true (0.0))
(false (1.0)))))
ne_corner
(robot_at__x21_y12′
(true (ne_corner’
(true (1.0))
(false (0.0))))
(false (ne_corner’
(true (0.0))
(false (1.0)))))
se_corner
(robot_at__x21_y20′
(true (se_corner’
(true (1.0))
(false (0.0))))
(false (se_corner’
(true (0.0))
(false (1.0)))))
endobserve
cost [+
(robot_at__x21_y20
(true (0.0))
(false (1.0)))
]
endaction

reward
(0.0)

discount 1.0
horizon 40