def hear_bark(do, hb):
tt = dict(tt=0.7, ft=0.01)
key = make_key(do, hb)
if key in tt:
return tt[key]
key = make_key(do, not hb)
return 1 - tt[key]
def dog_out(fo, bp, do):
tt = dict(ttt=0.99, tft=0.9, ftt=0.97, fft=0.3) # Note typo in article!
key = make_key(fo, bp, do)
if key in tt:
return tt[key]
key = make_key(fo, bp, not do)
return 1 - tt[key]
def hear_bark(do, hb):
tt = dict(
tt=0.7,
ft=0.01)
key = make_key(do, hb)
if key in tt:
return tt[key]
key = make_key(do, not hb)
return 1 - tt[key]
def dog_out(fo, bp, do):
tt = dict(
ttt=0.99,
tft=0.9,
ftt=0.97,
fft=0.3) # Note typo in article!
key = make_key(fo, bp, do)
if key in tt:
return tt[key]
key = make_key(fo, bp, not do)
return 1 - tt[key]
def f_rain(forecast, rain):
table = dict()
table['tt'] = 0.95
table['tf'] = 0.05
table['ft'] = 0.1
table['ff'] = 0.9
return table[make_key(forecast, rain)]
def f_h(e, g, h):
tt = dict(
ttt=0.05, ttf=0.95,
tft=0.95, tff=0.05,
ftt=0.95, ftf=0.05,
fft=0.95, fff=0.05)
return tt[make_key(e, g, h)]
def f_rain(forecast, rain):
table = dict()
table['tt'] = 0.95
table['tf'] = 0.05
table['ft'] = 0.1
table['ff'] = 0.9
return table[make_key(forecast, rain)]
def f_b(a, b):
tt = dict(
tt=0.5,
ft=0.4,
tf=0.5,
ff=0.6)
return tt[make_key(a, b)]
def f_c(a, c):
tt = dict(
tt=0.7,
ft=0.2,
tf=0.3,
ff=0.8)
return tt[make_key(a, c)]
def f_d(b, d):
tt = dict(
tt=0.9,
ft=0.5,
tf=0.1,
ff=0.5)
return tt[make_key(b, d)]
def f_e(c, e):
tt = dict(
tt=0.3,
ft=0.6,
tf=0.7,
ff=0.4)
return tt[make_key(c, e)]
def light_on(fo, lo):
tt = dict(
tt=0.6,
tf=0.4,
ft=0.05,
ff=0.96)
return tt[make_key(fo, lo)]
def f_f(d, e, f):
tt = dict(ttt=0.01,
ttf=0.99,
tft=0.01,
tff=0.99,
ftt=0.01,
ftf=0.99,
fft=0.99,
fff=0.01)
return tt[make_key(d, e, f)]
def f_walk(forecast, rain, walk):
table = dict()
table['fff'] = 0.01
table['fft'] = 0.99
table['ftf'] = 0.99
table['ftt'] = 0.01
table['tff'] = 0.8
table['tft'] = 0.2
table['ttf'] = 0.999
table['ttt'] = 0.001
return table[make_key(forecast, rain, walk)]
def f_robot_action(self, informant_action, robot_belief, robot_action):
table = dict()
table['aaa'] = self.parameters["Yr"][0][0]
table['aab'] = self.parameters["Yr"][0][1]
table['aba'] = self.parameters["Yr"][1][0]
table['abb'] = self.parameters["Yr"][1][1]
table['baa'] = self.parameters["Yr"][2][0]
table['bab'] = self.parameters["Yr"][2][1]
table['bba'] = self.parameters["Yr"][3][0]
table['bbb'] = self.parameters["Yr"][3][1]
return table[make_key(informant_action, robot_belief, robot_action)]
def f_grass_wet(sprinkler, rain, grass_wet):
table = dict()
table['fft'] = 0.0
table['fff'] = 1.0
table['ftt'] = 0.8
table['ftf'] = 0.2
table['tft'] = 0.9
table['tff'] = 0.1
table['ttt'] = 0.99
table['ttf'] = 0.01
return table[make_key(sprinkler, rain, grass_wet)]
def f_grass_wet(sprinkler, rain, grass_wet):
table = dict()
table['fft'] = 0.0
table['fff'] = 1.0
table['ftt'] = 0.8
table['ftf'] = 0.2
table['tft'] = 0.9
table['tff'] = 0.1
table['ttt'] = 0.99
table['ttf'] = 0.01
return table[make_key(sprinkler, rain, grass_wet)]
def f_walk(forecast, rain, walk):
table = dict()
table['fff'] = 0.01
table['fft'] = 0.99
table['ftf'] = 0.99
table['ftt'] = 0.01
table['tff'] = 0.8
table['tft'] = 0.2
table['ttf'] = 0.999
table['ttt'] = 0.001
return table[make_key(forecast, rain, walk)]
def f_f(d, e, f):
tt = dict(
ttt=0.01,
ttf=0.99,
tft=0.01,
tff=0.99,
ftt=0.01,
ftf=0.99,
fft=0.99,
fff=0.01)
return tt[make_key(d, e, f)]
def f_g(c, g):
tt = dict(tt=0.8, tf=0.2, ft=0.1, ff=0.9)
return tt[make_key(c, g)]
def light_on(fo, lo):
tt = dict(tt=0.6, tf=0.4, ft=0.05, ff=0.96)
return tt[make_key(fo, lo)]
def f_robot_expression(human_expression, human_action, object_size,
robot_expression):
table = dict()
table['111h'] = 0.8
table['112h'] = 1.0
table['121h'] = 0.8
table['122h'] = 1.0
table['131h'] = 0.6
table['132h'] = 0.8
table['211h'] = 0.0
table['212h'] = 0.0
table['221h'] = 0.0
table['222h'] = 0.1
table['231h'] = 0.0
table['232h'] = 0.2
table['311h'] = 0.7
table['312h'] = 0.8
table['321h'] = 0.8
table['322h'] = 0.9
table['331h'] = 0.6
table['332h'] = 0.7
table['111s'] = 0.2
table['112s'] = 0.0
table['121s'] = 0.2
table['122s'] = 0.0
table['131s'] = 0.2
table['132s'] = 0.2
table['211s'] = 0.0
table['212s'] = 0.0
table['221s'] = 0.1
table['222s'] = 0.1
table['231s'] = 0.2
table['232s'] = 0.2
table['311s'] = 0.3
table['312s'] = 0.2
table['321s'] = 0.2
table['322s'] = 0.1
table['331s'] = 0.2
table['332s'] = 0.2
table['111n'] = 0.0
table['112n'] = 0.0
table['121n'] = 0.0
table['122n'] = 0.0
table['131n'] = 0.2
table['132n'] = 0.0
table['211n'] = 1.0
table['212n'] = 1.0
table['221n'] = 0.9
table['222n'] = 0.8
table['231n'] = 0.8
table['232n'] = 0.6
table['311n'] = 0.0
table['312n'] = 0.0
table['321n'] = 0.0
table['322n'] = 0.0
table['331n'] = 0.2
table['332n'] = 0.1
return table[make_key(human_expression, human_action, object_size,
robot_expression)]
def f_g(c, g):
tt = dict(
tt=0.8, tf=0.2,
ft=0.1, ff=0.9)
return tt[make_key(c, g)]