7 J # # # # # # === Full-distance 1 0 1 1 0 1 1 1 1 1 False True 1 1 1 1 1 1 1 False === Step # : 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 VisionD: 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 VisionL: 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 VisionR: 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 7 7 7 1 1 1 1 1 1 VisionF: 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 3 3 3 2 2 1 1 1 1 VisionB: 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 2 2 2 2 2 2 1 1 1 2 2 3 3 3 3 Motion: - - - - - - - - - - - - - - - b - - - - - b - - f - f - - - Wheels: - - - f f - - - f f l l r r b - - - - - b - - f - f - f f - === 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc 63 96 96 96 96 132 135 135 135 135 135 135 135 135 135 158 114 114 124 126 135 182 126 126 201 126 210 114 114 124 P P E E P P P E E P E P E P E P P E P P E P E E P E P E P P 63 96 97 97 96 132 135 136 136 135 140 135 144 135 148 158 114 161 124 126 136 182 166 166 201 166 210 161 114 124 A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A 64 64 98 115 116 64 64 137 115 139 142 143 146 147 150 64 64 162 64 64 151 64 167 115 64 186 64 115 213 165 Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh 64 64 64 115 115 64 64 64 115 115 142 142 146 146 150 64 64 64 64 64 150 64 64 115 64 115 64 115 115 64 === 1, VD= VisionD 1 1 P ~ -1 ~ -1 1 0 0 - 0 0 1 l-Pc11 P, l-Pc10 P, l-Pc9 P, l-Pc8 P, l-Pc7 P, 66 1 P ~ -1 ~ -1 0 0 0 - 0 0 0 l-Pc99 P, l-Pc74 P, l-Pc73 P, l-Pc72 P, l-Pc71 P, 2, Vl= VisionL 2 1 P ~ -1 ~ -1 1 0 0 - 0 0 1 l-Pc15 P, l-Pc14 P, l-Pc13 P, l-Pc12 P, r-Pc7 P 67 1 P ~ -1 ~ -1 0 0 0 - 0 0 0 l-Pc100 P, l-Pc77 P, l-Pc76 P, l-Pc75 P, r-Pc71 P 3, Vr= VisionR 3 1 P ~ -1 ~ -1 1 0 0 - 0 0 1 l-Pc18 P, l-Pc17 P, l-Pc16 P, r-Pc12 P, r-Pc8 P 68 1 P ~ -1 ~ -1 0 0 0 - 0 0 0 l-Pc101 P, l-Pc79 P, l-Pc78 P, r-Pc75 P, r-Pc72 P 169 1 P ~ -1 ~ -1 -10 0 0 - 0 0 -10 l-Pc174 P, l-Pc173 P, l-Pc172 P, 187 1 P ~ -1 ~ -1 10 0 0 - 0 0 10 l-Pc193 P, l-Pc192 P, l-Pc191 P, 4, Vf= VisionF 4 1 P ~ -1 ~ -1 1 0 0 - 0 0 1 l-Pc20 P, l-Pc19 P, r-Pc16 P, r-Pc13 P, r-Pc9 P 69 1 P ~ -1 ~ -1 0 0 0 - 0 0 0 l-Pc102 P, l-Pc80 P, r-Pc78 P, r-Pc76 P, r-Pc73 P 152 1 P ~ -1 ~ -1 -3 0 0 - 0 0 -3 l-Pc156 P, l-Pc155 P, 170 1 P ~ -1 ~ -1 -2 0 0 - 0 0 -2 l-Pc176 P, l-Pc175 P, r-Pc172 P 188 1 P ~ -1 ~ -1 2 0 0 - 0 0 2 l-Pc195 P, l-Pc194 P, r-Pc191 P 205 1 P ~ -1 ~ -1 3 0 0 - 0 0 3 l-Pc208 P, l-Pc207 P, 5, Vb= VisionB 5 1 P ~ -1 ~ -1 1 0 0 - 0 0 1 l-Pc21 P, r-Pc19 P, r-Pc17 P, r-Pc14 P, r-Pc10 P 70 1 P ~ -1 ~ -1 0 0 0 - 0 0 0 l-Pc103 P, r-Pc80 P, r-Pc79 P, r-Pc77 P, r-Pc74 P 153 1 P ~ -1 ~ -1 2 0 0 - 0 0 2 l-Pc157 P, r-Pc155 P 171 1 P ~ -1 ~ -1 3 0 0 - 0 0 3 l-Pc177 P, r-Pc175 P, r-Pc173 P 189 1 P ~ -1 ~ -1 -3 0 0 - 0 0 -3 l-Pc196 P, r-Pc194 P, r-Pc192 P 206 1 P ~ -1 ~ -1 -2 0 0 - 0 0 -2 l-Pc209 P, r-Pc207 P 6, Mo= Motion 6 1 P ~ -1 ~ -1 45 0 0 - 0 0 - r-Pc103 P, r-Pc102 P, r-Pc101 P, r-Pc100 P, r-Pc99 P, r-Pc21 P, r-Pc20 P, r-Pc18 P, r-Pc15 P, r-Pc11 P 154 1 P ~ -1 ~ -1 98 0 0 - 0 0 b r-Pc177 P, r-Pc176 P, r-Pc174 P, r-Pc157 P, r-Pc156 P 190 1 P ~ -1 ~ -1 102 0 0 - 0 0 f r-Pc209 P, r-Pc208 P, r-Pc196 P, r-Pc195 P, r-Pc193 P 7, Pc= Percept 7 2 P VD 1 Vl 2 0 0 0 - 0 0 1+ 1 l-Pc25 P, l-Pc24 P, l-Pc23 P, l-Pc22 P, 71 2 P VD 66 Vl 67 0 0 0 - 0 0 0+ 0 l-Pc105 P, l-Pc83 P, l-Pc82 P, l-Pc81 P, 8, Pc= Percept 8 2 P VD 1 Vr 3 0 0 0 - 0 0 1+ 1 l-Pc28 P, l-Pc27 P, l-Pc26 P, 72 2 P VD 66 Vr 68 0 0 0 - 0 0 0+ 0 l-Pc106 P, l-Pc85 P, l-Pc84 P, 9, Pc= Percept 9 2 P VD 1 Vf 4 0 0 0 - 0 0 1+ 1 l-Pc30 P, l-Pc29 P, 73 2 P VD 66 Vf 69 0 0 0 - 0 0 0+ 0 l-Pc107 P, l-Pc86 P, 10, Pc= Percept 10 2 P VD 1 Vb 5 0 0 0 - 0 0 1+ 1 l-Pc31 P, 74 2 P VD 66 Vb 70 0 0 0 - 0 0 0+ 0 l-Pc108 P, 11, Pc= Percept 11 2 P VD 1 Mo 6 0 0 0 - 0 0 1+- 99 2 P VD 66 Mo 6 0 0 0 - 0 0 0+- 12, Pc= Percept 12 2 P Vl 2 Vr 3 0 0 0 - 0 0 1+ 1 l-Pc34 P, l-Pc33 P, l-Pc32 P, r-Pc22 P 75 2 P Vl 67 Vr 68 0 0 0 - 0 0 0+ 0 l-Pc109 P, l-Pc88 P, l-Pc87 P, r-Pc81 P 13, Pc= Percept 13 2 P Vl 2 Vf 4 0 0 0 - 0 0 1+ 1 l-Pc36 P, l-Pc35 P, r-Pc23 P 76 2 P Vl 67 Vf 69 0 0 0 - 0 0 0+ 0 l-Pc110 P, l-Pc89 P, r-Pc82 P 14, Pc= Percept 14 2 P Vl 2 Vb 5 0 0 0 - 0 0 1+ 1 l-Pc37 P, r-Pc24 P 77 2 P Vl 67 Vb 70 0 0 0 - 0 0 0+ 0 l-Pc111 P, r-Pc83 P 15, Pc= Percept 15 2 P Vl 2 Mo 6 0 0 0 - 0 0 1+- r-Pc25 P 100 2 P Vl 67 Mo 6 0 0 0 - 0 0 0+- r-Pc105 P 16, Pc= Percept 16 2 P Vr 3 Vf 4 0 0 0 - 0 0 1+ 1 l-Pc39 P, l-Pc38 P, r-Pc32 P, r-Pc26 P 78 2 P Vr 68 Vf 69 0 0 0 - 0 0 0+ 0 l-Pc112 P, l-Pc90 P, r-Pc87 P, r-Pc84 P 172 2 P Vr169 Vf170 0 0 0 - 0 0 -10+-2 l-Pc179 P, l-Pc178 P, 191 2 P Vr187 Vf188 0 0 0 - 0 0 10+ 2 l-Pc198 P, l-Pc197 P, 17, Pc= Percept 17 2 P Vr 3 Vb 5 0 0 0 - 0 0 1+ 1 l-Pc40 P, r-Pc33 P, r-Pc27 P 79 2 P Vr 68 Vb 70 0 0 0 - 0 0 0+ 0 l-Pc113 P, r-Pc88 P, r-Pc85 P 173 2 P Vr169 Vb171 0 0 0 - 0 0 -10+ 3 l-Pc180 P, 192 2 P Vr187 Vb189 0 0 0 - 0 0 10+-3 l-Pc199 P, 18, Pc= Percept 18 2 P Vr 3 Mo 6 0 0 0 - 0 0 1+- r-Pc34 P, r-Pc28 P 101 2 P Vr 68 Mo 6 0 0 0 - 0 0 0+- r-Pc109 P, r-Pc106 P 174 2 P Vr169 Mo154 0 0 0 - 0 0 -10+b 193 2 P Vr187 Mo190 0 0 0 - 0 0 10+f 19, Pc= Percept 19 2 P Vf 4 Vb 5 0 0 0 - 0 0 1+ 1 l-Pc41 P, r-Pc38 P, r-Pc35 P, r-Pc29 P 80 2 P Vf 69 Vb 70 0 0 0 - 0 0 0+ 0 l-Pc114 P, r-Pc90 P, r-Pc89 P, r-Pc86 P 155 2 P Vf152 Vb153 0 0 0 - 0 0 -3+ 2 l-Pc158 P, 175 2 P Vf170 Vb171 0 0 0 - 0 0 -2+ 3 l-Pc181 P, r-Pc178 P 194 2 P Vf188 Vb189 0 0 0 - 0 0 2+-3 l-Pc200 P, r-Pc197 P 207 2 P Vf205 Vb206 0 0 0 - 0 0 3+-2 l-Pc210 P, 20, Pc= Percept 20 2 P Vf 4 Mo 6 0 0 0 - 0 0 1+- r-Pc39 P, r-Pc36 P, r-Pc30 P 102 2 P Vf 69 Mo 6 0 0 0 - 0 0 0+- r-Pc112 P, r-Pc110 P, r-Pc107 P 156 2 P Vf152 Mo154 0 0 0 - 0 0 -3+b 176 2 P Vf170 Mo154 0 0 0 - 0 0 -2+b r-Pc179 P 195 2 P Vf188 Mo190 0 0 0 - 0 0 2+f r-Pc198 P 208 2 P Vf205 Mo190 0 0 0 - 0 0 3+f 21, Pc= Percept 21 2 P Vb 5 Mo 6 0 0 0 - 0 0 1+- r-Pc41 P, r-Pc40 P, r-Pc37 P, r-Pc31 P 103 2 P Vb 70 Mo 6 0 0 0 - 0 0 0+- r-Pc114 P, r-Pc113 P, r-Pc111 P, r-Pc108 P 157 2 P Vb153 Mo154 0 0 0 - 0 0 2+b r-Pc158 P 177 2 P Vb171 Mo154 0 0 0 - 0 0 3+b r-Pc181 P, r-Pc180 P 196 2 P Vb189 Mo190 0 0 0 - 0 0 -3+f r-Pc200 P, r-Pc199 P 209 2 P Vb206 Mo190 0 0 0 - 0 0 -2+f r-Pc210 P 22, Pc= Percept 22 3 P Pc 7 Pc 12 0 0 0 - 0 0 1+ 1+ 1 l-Pc44 P, l-Pc43 P, l-Pc42 P, 81 3 P Pc 71 Pc 75 0 0 0 - 0 0 0+ 0+ 0 l-Pc117 P, l-Pc92 P, l-Pc91 P, 23, Pc= Percept 23 3 P Pc 7 Pc 13 0 0 0 - 0 0 1+ 1+ 1 l-Pc46 P, l-Pc45 P, 82 3 P Pc 71 Pc 76 0 0 0 - 0 0 0+ 0+ 0 l-Pc118 P, l-Pc93 P, 24, Pc= Percept 24 3 P Pc 7 Pc 14 0 0 0 - 0 0 1+ 1+ 1 l-Pc47 P, 83 3 P Pc 71 Pc 77 0 0 0 - 0 0 0+ 0+ 0 l-Pc119 P, 25, Pc= Percept 25 3 P Pc 7 Pc 15 0 0 0 - 0 0 1+ 1+- 105 3 P Pc 71 Pc100 0 0 0 - 0 0 0+ 0+- 26, Pc= Percept 26 3 P Pc 8 Pc 16 0 0 0 - 0 0 1+ 1+ 1 l-Pc49 P, l-Pc48 P, 84 3 P Pc 72 Pc 78 0 0 0 - 0 0 0+ 0+ 0 l-Pc120 P, l-Pc94 P, 27, Pc= Percept 27 3 P Pc 8 Pc 17 0 0 0 - 0 0 1+ 1+ 1 l-Pc50 P, 85 3 P Pc 72 Pc 79 0 0 0 - 0 0 0+ 0+ 0 l-Pc121 P, 28, Pc= Percept 28 3 P Pc 8 Pc 18 0 0 0 - 0 0 1+ 1+- 106 3 P Pc 72 Pc101 0 0 0 - 0 0 0+ 0+- 29, Pc= Percept 29 3 P Pc 9 Pc 19 0 0 0 - 0 0 1+ 1+ 1 l-Pc51 P, 86 3 P Pc 73 Pc 80 0 0 0 - 0 0 0+ 0+ 0 l-Pc122 P, 30, Pc= Percept 30 3 P Pc 9 Pc 20 0 0 0 - 0 0 1+ 1+- 107 3 P Pc 73 Pc102 0 0 0 - 0 0 0+ 0+- 31, Pc= Percept 31 3 P Pc 10 Pc 21 0 0 0 - 0 0 1+ 1+- 108 3 P Pc 74 Pc103 0 0 0 - 0 0 0+ 0+- 32, Pc= Percept 32 3 P Pc 12 Pc 16 0 0 0 - 0 0 1+ 1+ 1 l-Pc53 P, l-Pc52 P, r-Pc42 P 87 3 P Pc 75 Pc 78 0 0 0 - 0 0 0+ 0+ 0 l-Pc123 P, l-Pc95 P, r-Pc91 P 33, Pc= Percept 33 3 P Pc 12 Pc 17 0 0 0 - 0 0 1+ 1+ 1 l-Pc54 P, r-Pc43 P 88 3 P Pc 75 Pc 79 0 0 0 - 0 0 0+ 0+ 0 l-Pc124 P, r-Pc92 P 34, Pc= Percept 34 3 P Pc 12 Pc 18 0 0 0 - 0 0 1+ 1+- r-Pc44 P 109 3 P Pc 75 Pc101 0 0 0 - 0 0 0+ 0+- r-Pc117 P 35, Pc= Percept 35 3 P Pc 13 Pc 19 0 0 0 - 0 0 1+ 1+ 1 l-Pc55 P, r-Pc45 P 89 3 P Pc 76 Pc 80 0 0 0 - 0 0 0+ 0+ 0 l-Pc125 P, r-Pc93 P 36, Pc= Percept 36 3 P Pc 13 Pc 20 0 0 0 - 0 0 1+ 1+- r-Pc46 P 110 3 P Pc 76 Pc102 0 0 0 - 0 0 0+ 0+- r-Pc118 P 37, Pc= Percept 37 3 P Pc 14 Pc 21 0 0 0 - 0 0 1+ 1+- r-Pc47 P 111 3 P Pc 77 Pc103 0 0 0 - 0 0 0+ 0+- r-Pc119 P 38, Pc= Percept 38 3 P Pc 16 Pc 19 0 0 0 - 0 0 1+ 1+ 1 l-Pc56 P, r-Pc52 P, r-Pc48 P 90 3 P Pc 78 Pc 80 0 0 0 - 0 0 0+ 0+ 0 l-Pc126 P, r-Pc95 P, r-Pc94 P 178 3 P Pc172 Pc175 0 0 0 - 0 0 -10+-2+ 3 l-Pc182 P, 197 3 P Pc191 Pc194 0 0 0 - 0 0 10+ 2+-3 l-Pc201 P, 39, Pc= Percept 39 3 P Pc 16 Pc 20 0 0 0 - 0 0 1+ 1+- r-Pc53 P, r-Pc49 P 112 3 P Pc 78 Pc102 0 0 0 - 0 0 0+ 0+- r-Pc123 P, r-Pc120 P 179 3 P Pc172 Pc176 0 0 0 - 0 0 -10+-2+b 198 3 P Pc191 Pc195 0 0 0 - 0 0 10+ 2+f 40, Pc= Percept 40 3 P Pc 17 Pc 21 0 0 0 - 0 0 1+ 1+- r-Pc54 P, r-Pc50 P 113 3 P Pc 79 Pc103 0 0 0 - 0 0 0+ 0+- r-Pc124 P, r-Pc121 P 180 3 P Pc173 Pc177 0 0 0 - 0 0 -10+ 3+b 199 3 P Pc192 Pc196 0 0 0 - 0 0 10+-3+f 41, Pc= Percept 41 3 P Pc 19 Pc 21 0 0 0 - 0 0 1+ 1+- r-Pc56 P, r-Pc55 P, r-Pc51 P 114 3 P Pc 80 Pc103 0 2 2 - 0 0 0+ 0+- l-Ac213 A, l-Ac162 A, rþAc214 E, r-Ac161 E, r-Pc126 P, r-Pc125 P, r-Pc122 P 158 3 P Pc155 Pc157 0 1 1 - 0 0 -3+ 2+b lþAc160 A, rþAc159 E 181 3 P Pc175 Pc177 0 0 0 - 0 0 -2+ 3+b r-Pc182 P 200 3 P Pc194 Pc196 0 0 0 - 0 0 2+-3+f r-Pc201 P 210 3 P Pc207 Pc209 0 1 1 - 0 0 3+-2+f lþAc212 A, rþAc211 E 42, Pc= Percept 42 4 P Pc 22 Pc 32 0 0 0 - 0 0 1+ 1+ 1+ 1 l-Pc58 P, l-Pc57 P, 91 4 P Pc 81 Pc 87 0 0 0 - 0 0 0+ 0+ 0+ 0 l-Pc128 P, l-Pc96 P, 43, Pc= Percept 43 4 P Pc 22 Pc 33 0 0 0 - 0 0 1+ 1+ 1+ 1 l-Pc59 P, 92 4 P Pc 81 Pc 88 0 0 0 - 0 0 0+ 0+ 0+ 0 l-Pc129 P, 44, Pc= Percept 44 4 P Pc 22 Pc 34 0 0 0 - 0 0 1+ 1+ 1+- 117 4 P Pc 81 Pc109 0 0 0 - 0 0 0+ 0+ 0+- 45, Pc= Percept 45 4 P Pc 23 Pc 35 0 0 0 - 0 0 1+ 1+ 1+ 1 l-Pc60 P, 93 4 P Pc 82 Pc 89 0 0 0 - 0 0 0+ 0+ 0+ 0 l-Pc130 P, 46, Pc= Percept 46 4 P Pc 23 Pc 36 0 0 0 - 0 0 1+ 1+ 1+- 118 4 P Pc 82 Pc110 0 0 0 - 0 0 0+ 0+ 0+- 47, Pc= Percept 47 4 P Pc 24 Pc 37 0 0 0 - 0 0 1+ 1+ 1+- 119 4 P Pc 83 Pc111 0 0 0 - 0 0 0+ 0+ 0+- 48, Pc= Percept 48 4 P Pc 26 Pc 38 0 0 0 - 0 0 1+ 1+ 1+ 1 l-Pc61 P, 94 4 P Pc 84 Pc 90 0 0 0 - 0 0 0+ 0+ 0+ 0 l-Pc131 P, 49, Pc= Percept 49 4 P Pc 26 Pc 39 0 0 0 - 0 0 1+ 1+ 1+- 120 4 P Pc 84 Pc112 0 0 0 - 0 0 0+ 0+ 0+- 50, Pc= Percept 50 4 P Pc 27 Pc 40 0 0 0 - 0 0 1+ 1+ 1+- 121 4 P Pc 85 Pc113 0 0 0 - 0 0 0+ 0+ 0+- 51, Pc= Percept 51 4 P Pc 29 Pc 41 0 0 0 - 0 0 1+ 1+ 1+- 122 4 P Pc 86 Pc114 0 0 0 - 0 0 0+ 0+ 0+- 52, Pc= Percept 52 4 P Pc 32 Pc 38 0 0 0 - 0 0 1+ 1+ 1+ 1 l-Pc62 P, r-Pc57 P 95 4 P Pc 87 Pc 90 0 0 0 - 0 0 0+ 0+ 0+ 0 l-Pc132 P, r-Pc96 P 53, Pc= Percept 53 4 P Pc 32 Pc 39 0 0 0 - 0 0 1+ 1+ 1+- r-Pc58 P 123 4 P Pc 87 Pc112 0 0 0 - 0 0 0+ 0+ 0+- r-Pc128 P 54, Pc= Percept 54 4 P Pc 33 Pc 40 0 0 0 - 0 0 1+ 1+ 1+- r-Pc59 P 124 4 P Pc 88 Pc113 0 1 2 - 0 0 0+ 0+ 0+- l-Ac165 A, rþAc215 E, rþAc164 E, r-Pc129 P 55, Pc= Percept 55 4 P Pc 35 Pc 41 0 0 0 - 0 0 1+ 1+ 1+- r-Pc60 P 125 4 P Pc 89 Pc114 0 0 0 - 0 0 0+ 0+ 0+- r-Pc130 P 56, Pc= Percept 56 4 P Pc 38 Pc 41 0 0 0 - 0 0 1+ 1+ 1+- r-Pc62 P, r-Pc61 P 126 4 P Pc 90 Pc114 0 2 1 - 0 0 0+ 0+ 0+- l-Ac186 A, l-Ac167 A, r-Ac166 E, r-Pc132 P, r-Pc131 P 182 4 P Pc178 Pc181 0 1 1 - 0 0 -10+-2+ 3+b lþAc184 A, rþAc183 E 201 4 P Pc197 Pc200 0 1 1 - 0 0 10+ 2+-3+f lþAc203 A, rþAc202 E 57, Pc= Percept 57 5 P Pc 42 Pc 52 0 0 0 - 0 0 1+ 1+ 1+ 1+ 1 l-Pc63 P, 96 5 P Pc 91 Pc 95 0 2 2 - 0 0 0+ 0+ 0+ 0+ 0 l-Pc135 P, l-Ac116 A, l-Ac98 A, rþAc127 E, r-Ac97 E 58, Pc= Percept 58 5 P Pc 42 Pc 53 0 0 0 - 0 0 1+ 1+ 1+ 1+- 128 5 P Pc 91 Pc123 0 0 0 - 0 0 0+ 0+ 0+ 0+- 59, Pc= Percept 59 5 P Pc 43 Pc 54 0 0 0 - 0 0 1+ 1+ 1+ 1+- 129 5 P Pc 92 Pc124 0 0 0 - 0 0 0+ 0+ 0+ 0+- 60, Pc= Percept 60 5 P Pc 45 Pc 55 0 0 0 - 0 0 1+ 1+ 1+ 1+- 130 5 P Pc 93 Pc125 0 0 0 - 0 0 0+ 0+ 0+ 0+- 61, Pc= Percept 61 5 P Pc 48 Pc 56 0 0 0 - 0 0 1+ 1+ 1+ 1+- 131 5 P Pc 94 Pc126 0 0 0 - 0 0 0+ 0+ 0+ 0+- 62, Pc= Percept 62 5 P Pc 52 Pc 56 0 0 0 - 0 0 1+ 1+ 1+ 1+- r-Pc63 P 132 5 P Pc 95 Pc126 0 1 1 - 0 0 0+ 0+ 0+ 0+- lþAc134 A, r-Pc135 P, rþAc133 E 63, Pc= Percept 63 6 P Pc 57 Pc 62 0 1 0 - 0 0 1+ 1+ 1+ 1+ 1+- lþAc65 A, 135 6 P Pc 96 Pc132 0 5 4 - 0 0 0+ 0+ 0+ 0+ 0+- l-Ac151 A, l-Ac147 A, l-Ac143 A, l-Ac139 A, l-Ac137 A, r-Ac136 E, r-Ac148 E, r-Ac144 E, r-Ac140 E 64, Ac= Action 65 2 A Pc 63 Wh 64 0 0 0 þ 1 1 1+ 1+ 1+ 1 97 2 E Wh 64 Pc 96 0 1 0 - 1 1 - 0+ 0+ 0+ lþAc104 AA, 98 2 A Pc 96 Wh 64 0 0 1 - 1 1 0+ 0+ 0+ 0 rþAc104 AA 116 2 A Pc 96 Wh115 0 0 0 - 1 1 0+ 0+ 0+ 0 127 2 E Wh115 Pc 96 0 0 0 þ 1 1 f 0+ 0+ 0+ 133 2 E Wh115 Pc132 0 0 0 þ 1 1 f 0+ 0+ 0+ 134 2 A Pc132 Wh 64 0 0 0 þ 1 1 0+ 0+ 0+ 0 136 2 E Wh 64 Pc135 0 2 0 - 1 1 - 0+ 0+ 0+ lþAc168 AA, lþAc138 AA, 137 2 A Pc135 Wh 64 0 0 1 - 1 1 0+ 0+ 0+ 0 rþAc138 AA 139 2 A Pc135 Wh115 0 1 0 - 1 1 0+ 0+ 0+ 0 lþAc141 PP, 140 2 E Wh115 Pc135 0 0 1 - 1 1 f 0+ 0+ 0+ rþAc141 PP 143 2 A Pc135 Wh142 0 1 0 - 1 1 0+ 0+ 0+ 0 lþAc145 PP, 144 2 E Wh142 Pc135 0 0 1 - 1 1 l 0+ 0+ 0+ rþAc145 PP 147 2 A Pc135 Wh146 0 1 0 - 1 1 0+ 0+ 0+ 0 lþAc149 PP, 148 2 E Wh146 Pc135 0 0 1 - 1 1 r 0+ 0+ 0+ rþAc149 PP 151 2 A Pc135 Wh150 0 0 1 - 1 1 0+ 0+ 0+ 0 rþAc168 AA 159 2 E Wh150 Pc158 0 0 0 þ 1 1 b-3+ 2+b 160 2 A Pc158 Wh 64 0 0 0 þ 1 1 -3+ 2+b- 161 2 E Wh 64 Pc114 0 1 0 - 1 1 - 0+ 0+- lþAc163 AA, 162 2 A Pc114 Wh 64 0 0 1 - 1 1 0+ 0+-- rþAc163 AA 164 2 E Wh 64 Pc124 0 0 0 þ 1 1 - 0+ 0+ 0+ 165 2 A Pc124 Wh 64 0 0 0 - 1 1 0+ 0+ 0+- 166 2 E Wh 64 Pc126 0 2 0 - 1 1 - 0+ 0+ 0+ lþAc204 AA, lþAc185 AA, 167 2 A Pc126 Wh 64 0 0 1 - 1 1 0+ 0+ 0+- rþAc185 AA 183 2 E Wh150 Pc182 0 0 0 þ 1 1 b-10+-2+ 3 184 2 A Pc182 Wh 64 0 0 0 þ 1 1 -10+-2+ 3+b 186 2 A Pc126 Wh115 0 0 1 - 1 1 0+ 0+ 0+- rþAc204 AA 202 2 E Wh115 Pc201 0 0 0 þ 1 1 f 10+ 2+-3 203 2 A Pc201 Wh 64 0 0 0 þ 1 1 10+ 2+-3+f 211 2 E Wh115 Pc210 0 0 0 þ 1 1 f 3+-2+f 212 2 A Pc210 Wh 64 0 0 0 þ 1 1 3+-2+f- 213 2 A Pc114 Wh115 0 0 0 - 1 1 0+ 0+-f 214 2 E Wh115 Pc114 0 0 0 þ 1 1 f 0+ 0+- 215 2 E Wh115 Pc124 0 0 0 þ 1 1 f 0+ 0+ 0+ 104 3 AA Ac 97 Ac 98 0 0 0 þ 1 1 - 0+ 0+ 0+ 0+ 0 138 3 AA Ac136 Ac137 0 0 0 þ 1 1 - 0+ 0+ 0+ 0+ 0+ 141 3 PP Ac139 Ac140 0 0 0 þ 1 1 0+ 0+ 0+ 0+ 0+- 145 3 PP Ac143 Ac144 0 0 0 þ 1 1 0+ 0+ 0+ 0+ 0+- 149 3 PP Ac147 Ac148 0 0 0 þ 1 1 0+ 0+ 0+ 0+ 0+- 163 3 AA Ac161 Ac162 0 0 0 þ 1 1 - 0+ 0+-- 168 3 AA Ac136 Ac151 0 0 0 þ 1 1 - 0+ 0+ 0+ 0+ 0+ 185 3 AA Ac166 Ac167 0 0 0 þ 1 1 - 0+ 0+ 0+-- 204 3 AA Ac166 Ac186 0 0 0 þ 1 1 - 0+ 0+ 0+-f 65, Wh= Wheels 64 1 A ~ -1 ~ -1 45 511 - 0 0 - l-Ac161 E, l-Ac166 E, l-Ac136 E, lþAc164 E, l-Ac97 E, r-Ac165 A, rþAc212 A, rþAc203 A, r-Ac167 A, rþAc184 A, r-Ac162 A, rþAc160 A, r-Ac137 A, rþAc134 A, r-Ac98 A, rþAc65 A 115 1 A ~ -1 ~ -1 102 7 4 - 0 0 f lþAc215 E, lþAc214 E, lþAc211 E, lþAc202 E, l-Ac140 E, lþAc133 E, lþAc127 E, r-Ac213 A, r-Ac186 A, r-Ac139 A, r-Ac116 A 142 1 A ~ -1 ~ -1 108 1 1 - 0 0 l l-Ac144 E, r-Ac143 A 146 1 A ~ -1 ~ -1 114 1 1 - 0 0 r l-Ac148 E, r-Ac147 A 150 1 A ~ -1 ~ -1 98 2 1 - 0 0 b lþAc183 E, lþAc159 E, r-Ac151 A === Step = 30 Percepts = 1x-VD66 P 0 1x-Vl67 P 0 1x-Vr68 P 0 1x-Vf69 P 0 1x-Vb70 P 0 1x-Mo6 P - 1x-Pc71 P 0+ 0 1x-Pc72 P 0+ 0 1x-Pc73 P 0+ 0 1x-Pc74 P 0+ 0 1x-Pc99 P 0+- 1x-Pc75 P 0+ 0 1x-Pc76 P 0+ 0 1x-Pc77 P 0+ 0 1x-Pc100 P 0+- 1x-Pc78 P 0+ 0 1x-Pc79 P 0+ 0 1x-Pc101 P 0+- 1x-Pc80 P 0+ 0 1x-Pc102 P 0+- 1x-Pc103 P 0+- 1x-Pc81 P 0+ 0+ 0 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 1x-Pc114 P 0+ 0+- 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ Lvl=1 #3=1x1-Wh115 A f #2=1x1-Pc114 P 0+ 0+- #1=1x1-Wh115 A f Lvl=2 #4=1x1-Ac161 E - 0+ 0 #1=1x1-Ac213 A 0+ 0+- Percepts = 1x-VD66 P 0 1x-Vl67 P 0 1x-Vr68 P 0 1x-Vf69 P 0 1x-Vb70 P 0 1x-Mo6 P - 1x-Pc71 P 0+ 0 1x-Pc72 P 0+ 0 1x-Pc73 P 0+ 0 1x-Pc74 P 0+ 0 1x-Pc99 P 0+- 1x-Pc75 P 0+ 0 1x-Pc76 P 0+ 0 1x-Pc77 P 0+ 0 1x-Pc100 P 0+- 1x-Pc78 P 0+ 0 1x-Pc79 P 0+ 0 1x-Pc101 P 0+- 1x-Pc80 P 0+ 0 1x-Pc102 P 0+- 1x-Pc103 P 0+- 1x-Pc81 P 0+ 0+ 0 1x-Pc82 P 0+ 0+ 0 1x-Pc83 P 0+ 0+ 0 1x-Pc105 P 0+ 0+- 1x-Pc84 P 0+ 0+ 0 1x-Pc85 P 0+ 0+ 0 1x-Pc106 P 0+ 0+- 1x-Pc86 P 0+ 0+ 0 1x-Pc107 P 0+ 0+- 1x-Pc108 P 0+ 0+- 1x-Pc87 P 0+ 0+ 0 1x-Pc88 P 0+ 0+ 0 1x-Pc109 P 0+ 0+- 1x-Pc89 P 0+ 0+ 0 1x-Pc110 P 0+ 0+- 1x-Pc111 P 0+ 0+- 1x-Pc90 P 0+ 0+ 0 1x-Pc112 P 0+ 0+- 1x-Pc113 P 0+ 0+- 1x-Pc114 P 0+ 0+- 0x ~ 0x ~ 0x ~ 1x-Pc93 P 0+ 0+ 0+ 0 1x-Pc118 P 0+ 0+ 0+- 1x-Pc119 P 0+ 0+ 0+- 1x-Pc94 P 0+ 0+ 0+ 0 1x-Pc120 P 0+ 0+ 0+- 1x-Pc121 P 0+ 0+ 0+- 0x ~ 1x-Pc95 P 0+ 0+ 0+ 0 1x-Pc123 P 0+ 0+ 0+- 1x-Pc124 P 0+ 0+ 0+- 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ Got EXPECTED: -Pc124 P 0+ 0+ 0+- 1-0/ Processing percepts at level 1 1-0a/ Pass 1 - Percept Processing 2 0 0 þAc215 E f 0+ 0+ 0+- NEW # EObj Pattern - Fired Binon List 1 1 2 -Pc124 P 0+ 0+ 0+- This is the Perceived or Performed Binon * Practicing þAc165 A 0+ 0+ 0+-- STM Perceived binon is the trigger of its most recent novel Action OUTPUT response = - Lvl=1 #3=1x1-Pc114 P 0+ 0+- #2=1x1-Wh115 A f #1=1x1-Pc124 P 0+ 0+ #0=1x1-Wh64 A - Lvl=2 #2=1x1-Ac213 A 0+ 0+- 1-0/ Processing percepts at level 1 1-0a/ Pass 2 - Action Processing 2-0/ Processing percepts at level 2 2-0a/ Pass 2 - Expectation Processing 2-0c/ Check for repeater Action # EObj Pattern - Fired Binon List 1 5 11 -Wh64 A - This is the Perceived or Performed Binon 2 0 0 -Ac165 A 0+ 0+ 0+-- Percepts = 1x-VD66 P 0 1x-Vl67 P 0 1x-Vr68 P 0 1x-Vf69 P 0 1x-Vb70 P 0 1x-Mo6 P - 1x-Pc71 P 0+ 0 1x-Pc72 P 0+ 0 1x-Pc73 P 0+ 0 1x-Pc74 P 0+ 0 1x-Pc99 P 0+- 1x-Pc75 P 0+ 0 1x-Pc76 P 0+ 0 1x-Pc77 P 0+ 0 1x-Pc100 P 0+- 1x-Pc78 P 0+ 0 1x-Pc79 P 0+ 0 1x-Pc101 P 0+- 1x-Pc80 P 0+ 0 1x-Pc102 P 0+- 1x-Pc103 P 0+- 1x-Pc81 P 0+ 0+ 0 1x-Pc82 P 0+ 0+ 0 1x-Pc83 P 0+ 0+ 0 1x-Pc105 P 0+ 0+- 1x-Pc84 P 0+ 0+ 0 1x-Pc85 P 0+ 0+ 0 1x-Pc106 P 0+ 0+- 1x-Pc86 P 0+ 0+ 0 1x-Pc107 P 0+ 0+- 1x-Pc108 P 0+ 0+- 1x-Pc87 P 0+ 0+ 0 1x-Pc88 P 0+ 0+ 0 1x-Pc109 P 0+ 0+- 1x-Pc89 P 0+ 0+ 0 1x-Pc110 P 0+ 0+- 1x-Pc111 P 0+ 0+- 1x-Pc90 P 0+ 0+ 0 1x-Pc112 P 0+ 0+- 1x-Pc113 P 0+ 0+- 1x-Pc114 P 0+ 0+- 0x ~ 0x ~ 0x ~ 1x-Pc93 P 0+ 0+ 0+ 0 1x-Pc118 P 0+ 0+ 0+- 1x-Pc119 P 0+ 0+ 0+- 1x-Pc94 P 0+ 0+ 0+ 0 1x-Pc120 P 0+ 0+ 0+- 1x-Pc121 P 0+ 0+ 0+- 0x ~ 1x-Pc95 P 0+ 0+ 0+ 0 1x-Pc123 P 0+ 0+ 0+- 1x-Pc124 P 0+ 0+ 0+- 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ 0x ~ Lvl=1 #3=1x1-Wh115 A f #2=1x1-Pc124 P 0+ 0+ #1=1x1-Wh64 A - Lvl=2 #3=1x1-Ac213 A 0+ 0+- #1=1x1-Ac165 A 0+ 0+
Began life as a copy of #1031230
Travelled to 4 computer(s): bhatertpkbcr, mqqgnosmbjvj, pyentgdyhuwx, vouqrxazstgt
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| Snippet ID: | #1031231 |
| Snippet name: | Smarty Test Case 2 (distance view, lots of sensors, 30 steps) |
| Eternal ID of this version: | #1031231/1 |
| Text MD5: | 202b3c9e38a59c9e40535d7793d8165b |
| Author: | stefan |
| Category: | smarty |
| Type: | Document |
| Public (visible to everyone): | Yes |
| Archived (hidden from active list): | No |
| Created/modified: | 2021-05-21 22:59:23 |
| Source code size: | 22863 bytes / 551 lines |
| Pitched / IR pitched: | No / No |
| Views / Downloads: | 139 / 273 |
| Referenced in: | [show references] |