From 5e32b139e9a6ef75e976e92bb225c8814ea60ff0 Mon Sep 17 00:00:00 2001 From: sp Date: Mon, 23 Sep 2024 16:44:54 +0200 Subject: [PATCH] added HelloLavaGap MDPs --- LavaGap.prism | 28 ++ lavagap.dot | 743 +++++++++++++++++++++++++++++++++++++++++++ lavagap.pdf | Bin 0 -> 52620 bytes lavagap_with_phi.pdf | Bin 0 -> 52680 bytes 4 files changed, 771 insertions(+) create mode 100644 LavaGap.prism create mode 100644 lavagap.dot create mode 100644 lavagap.pdf create mode 100644 lavagap_with_phi.pdf diff --git a/LavaGap.prism b/LavaGap.prism new file mode 100644 index 0000000..b011590 --- /dev/null +++ b/LavaGap.prism @@ -0,0 +1,28 @@ +mdp + +formula AgentCannotMoveEastWall = (colAgent=4&rowAgent=1) | (colAgent=4&rowAgent=2) | (colAgent=4&rowAgent=3) | (colAgent=4&rowAgent=4); +formula AgentCannotMoveNorthWall = (colAgent=3&rowAgent=1) | (colAgent=4&rowAgent=1) | (colAgent=1&rowAgent=1) | (colAgent=2&rowAgent=1); +formula AgentCannotMoveSouthWall = (colAgent=1&rowAgent=4) | (colAgent=3&rowAgent=4) | (colAgent=4&rowAgent=4) | (colAgent=2&rowAgent=4); +formula AgentCannotMoveWestWall = (colAgent=1&rowAgent=2) | (colAgent=1&rowAgent=3) | (colAgent=1&rowAgent=4) | (colAgent=1&rowAgent=1); +formula AgentIsOnSlippery = false; +formula AgentIsOnLava = (colAgent=2&rowAgent=1) | (colAgent=2&rowAgent=3) | (colAgent=2&rowAgent=4); +label "AgentIsOnLava" = AgentIsOnLava; +formula AgentIsOnGoal = (colAgent=4&rowAgent=4); +init + true +endinit + + +module Agent + colAgent : [1..4]; + rowAgent : [1..4]; + viewAgent : [0..3]; + + [Agent_turn_right] !AgentIsOnLava &true -> 1.000000: (viewAgent'=mod(viewAgent+1,4)); + [Agent_turn_left] !AgentIsOnLava &viewAgent>0 -> 1.000000: (viewAgent'=viewAgent-1); + [Agent_turn_left] !AgentIsOnLava &viewAgent=0 -> 1.000000: (viewAgent'=3); + [Agent_move_North] viewAgent=3 & !AgentIsOnLava & !AgentIsOnGoal & !AgentCannotMoveNorthWall -> 1.000000: (rowAgent'=rowAgent-1); + [Agent_move_East] viewAgent=0 & !AgentIsOnLava & !AgentIsOnGoal & !AgentCannotMoveEastWall -> 1.000000: (colAgent'=colAgent+1); + [Agent_move_South] viewAgent=1 & !AgentIsOnLava & !AgentIsOnGoal & !AgentCannotMoveSouthWall -> 1.000000: (rowAgent'=rowAgent+1); + [Agent_move_West] viewAgent=2 & !AgentIsOnLava & !AgentIsOnGoal & !AgentCannotMoveWestWall -> 1.000000: (colAgent'=colAgent-1); +endmodule diff --git a/lavagap.dot b/lavagap.dot new file mode 100644 index 0000000..630b5f2 --- /dev/null +++ b/lavagap.dot @@ -0,0 +1,743 @@ +digraph model { + 0 [ label = "0[colAgent=1 & rowAgent=1 & viewAgent=0] +: {init}" ]; + 1 [ label = "1[colAgent=2 & rowAgent=1 & viewAgent=0] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 2 [ label = "2[colAgent=3 & rowAgent=1 & viewAgent=0] +: {init}" ]; + 3 [ label = "3[colAgent=4 & rowAgent=1 & viewAgent=0] +: {init}" ]; + 4 [ label = "4[colAgent=2 & rowAgent=2 & viewAgent=0] +: {init}" ]; + 5 [ label = "5[colAgent=3 & rowAgent=2 & viewAgent=0] +: {init}" ]; + 6 [ label = "6[colAgent=4 & rowAgent=2 & viewAgent=0] +: {init}" ]; + 7 [ label = "7[colAgent=2 & rowAgent=3 & viewAgent=0] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 8 [ label = "8[colAgent=3 & rowAgent=3 & viewAgent=0] +: {init}" ]; + 9 [ label = "9[colAgent=4 & rowAgent=3 & viewAgent=0] +: {init}" ]; + 10 [ label = "10[colAgent=2 & rowAgent=4 & viewAgent=0] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 11 [ label = "11[colAgent=3 & rowAgent=4 & viewAgent=0] +: {init}" ]; + 12 [ label = "12[colAgent=4 & rowAgent=4 & viewAgent=0] +: {init}" ]; + 13 [ label = "13[colAgent=2 & rowAgent=2 & viewAgent=1] +: {init}" ]; + 14 [ label = "14[colAgent=3 & rowAgent=2 & viewAgent=1] +: {init}" ]; + 15 [ label = "15[colAgent=4 & rowAgent=2 & viewAgent=1] +: {init}" ]; + 16 [ label = "16[colAgent=2 & rowAgent=3 & viewAgent=1] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 17 [ label = "17[colAgent=3 & rowAgent=3 & viewAgent=1] +: {init}" ]; + 18 [ label = "18[colAgent=4 & rowAgent=3 & viewAgent=1] +: {init}" ]; + 19 [ label = "19[colAgent=2 & rowAgent=4 & viewAgent=1] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 20 [ label = "20[colAgent=3 & rowAgent=4 & viewAgent=1] +: {init}" ]; + 21 [ label = "21[colAgent=4 & rowAgent=4 & viewAgent=1] +: {init}" ]; + 22 [ label = "22[colAgent=2 & rowAgent=2 & viewAgent=2] +: {init}" ]; + 23 [ label = "23[colAgent=3 & rowAgent=2 & viewAgent=2] +: {init}" ]; + 24 [ label = "24[colAgent=4 & rowAgent=2 & viewAgent=2] +: {init}" ]; + 25 [ label = "25[colAgent=2 & rowAgent=3 & viewAgent=2] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 26 [ label = "26[colAgent=3 & rowAgent=3 & viewAgent=2] +: {init}" ]; + 27 [ label = "27[colAgent=4 & rowAgent=3 & viewAgent=2] +: {init}" ]; + 28 [ label = "28[colAgent=2 & rowAgent=4 & viewAgent=2] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 29 [ label = "29[colAgent=3 & rowAgent=4 & viewAgent=2] +: {init}" ]; + 30 [ label = "30[colAgent=4 & rowAgent=4 & viewAgent=2] +: {init}" ]; + 31 [ label = "31[colAgent=2 & rowAgent=2 & viewAgent=3] +: {init}" ]; + 32 [ label = "32[colAgent=3 & rowAgent=2 & viewAgent=3] +: {init}" ]; + 33 [ label = "33[colAgent=4 & rowAgent=2 & viewAgent=3] +: {init}" ]; + 34 [ label = "34[colAgent=2 & rowAgent=3 & viewAgent=3] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 35 [ label = "35[colAgent=3 & rowAgent=3 & viewAgent=3] +: {init}" ]; + 36 [ label = "36[colAgent=4 & rowAgent=3 & viewAgent=3] +: {init}" ]; + 37 [ label = "37[colAgent=2 & rowAgent=4 & viewAgent=3] +: {AgentIsOnLava, deadlock +init}", style=filled, color=red ]; + 38 [ label = "38[colAgent=3 & rowAgent=4 & viewAgent=3] +: {init}" ]; + 39 [ label = "39[colAgent=4 & rowAgent=4 & viewAgent=3] +: {init}" ]; + 40 [ label = "40[colAgent=1 & rowAgent=1 & viewAgent=1] +: {}" ]; + 41 [ label = "41[colAgent=1 & rowAgent=1 & viewAgent=3] +: {}" ]; + 42 [ label = "42[colAgent=3 & rowAgent=1 & viewAgent=1] +: {}" ]; + 43 [ label = "43[colAgent=3 & rowAgent=1 & viewAgent=3] +: {}" ]; + 44 [ label = "44[colAgent=4 & rowAgent=1 & viewAgent=1] +: {}" ]; + 45 [ label = "45[colAgent=4 & rowAgent=1 & viewAgent=3] +: {}" ]; + 46 [ label = "46[colAgent=1 & rowAgent=2 & viewAgent=2] +: {}" ]; + 47 [ label = "47[colAgent=2 & rowAgent=1 & viewAgent=3] +: {AgentIsOnLava, deadlock +}", style=filled, color=red ]; + 48 [ label = "48[colAgent=1 & rowAgent=1 & viewAgent=2] +: {}" ]; + 49 [ label = "49[colAgent=1 & rowAgent=2 & viewAgent=1] +: {}" ]; + 50 [ label = "50[colAgent=3 & rowAgent=1 & viewAgent=2] +: {}" ]; + 51 [ label = "51[colAgent=4 & rowAgent=1 & viewAgent=2] +: {}" ]; + 52 [ label = "52[colAgent=1 & rowAgent=2 & viewAgent=3] +: {}" ]; + 53 [ label = "53[colAgent=1 & rowAgent=2 & viewAgent=0] +: {}" ]; + 54 [ label = "54[colAgent=1 & rowAgent=3 & viewAgent=1] +: {}" ]; + 55 [ label = "55[colAgent=2 & rowAgent=1 & viewAgent=2] +: {AgentIsOnLava, deadlock +}", style=filled, color=red ]; + 56 [ label = "56[colAgent=1 & rowAgent=3 & viewAgent=2] +: {}" ]; + 57 [ label = "57[colAgent=1 & rowAgent=3 & viewAgent=0] +: {}" ]; + 58 [ label = "58[colAgent=1 & rowAgent=4 & viewAgent=1] +: {}" ]; + 59 [ label = "59[colAgent=1 & rowAgent=3 & viewAgent=3] +: {}" ]; + 60 [ label = "60[colAgent=1 & rowAgent=4 & viewAgent=2] +: {}" ]; + 61 [ label = "61[colAgent=1 & rowAgent=4 & viewAgent=0] +: {}" ]; + 62 [ label = "62[colAgent=1 & rowAgent=4 & viewAgent=3] +: {}" ]; + "0c0" [shape = "point"]; + 0 -> "0c0" [ label = "{Agent_turn_right}"] +; + "0c0" -> 40 [ label= "1" ]; + "0c1" [shape = "point"]; + 0 -> "0c1" [ label = "{Agent_turn_left}"] +; + "0c1" -> 41 [ label= "1" ]; + "0c2" [shape = "point"]; + 0 -> "0c2" [ label = "{Agent_move_East}"] +; + "0c2" -> 1 [ label= "1" ]; + "1c0" [shape = "point"]; + 1 -> "1c0" [ label = "{}"] +; + "1c0" -> 1 [ label= "1" ]; + "2c0" [shape = "point"]; + 2 -> "2c0" [ label = "{Agent_turn_right}"] +; + "2c0" -> 42 [ label= "1" ]; + "2c1" [shape = "point"]; + 2 -> "2c1" [ label = "{Agent_turn_left}"] +; + "2c1" -> 43 [ label= "1" ]; + "2c2" [shape = "point"]; + 2 -> "2c2" [ label = "{Agent_move_East}"] +; + "2c2" -> 3 [ label= "1" ]; + "3c0" [shape = "point"]; + 3 -> "3c0" [ label = "{Agent_turn_right}"] +; + "3c0" -> 44 [ label= "1" ]; + "3c1" [shape = "point"]; + 3 -> "3c1" [ label = "{Agent_turn_left}"] +; + "3c1" -> 45 [ label= "1" ]; + "4c0" [shape = "point"]; + 4 -> "4c0" [ label = "{Agent_turn_right}"] +; + "4c0" -> 13 [ label= "1" ]; + "4c1" [shape = "point"]; + 4 -> "4c1" [ label = "{Agent_turn_left}"] +; + "4c1" -> 31 [ label= "1" ]; + "4c2" [shape = "point"]; + 4 -> "4c2" [ label = "{Agent_move_East}"] +; + "4c2" -> 5 [ label= "1" ]; + "5c0" [shape = "point"]; + 5 -> "5c0" [ label = "{Agent_turn_right}"] +; + "5c0" -> 14 [ label= "1" ]; + "5c1" [shape = "point"]; + 5 -> "5c1" [ label = "{Agent_turn_left}"] +; + "5c1" -> 32 [ label= "1" ]; + "5c2" [shape = "point"]; + 5 -> "5c2" [ label = "{Agent_move_East}"] +; + "5c2" -> 6 [ label= "1" ]; + "6c0" [shape = "point"]; + 6 -> "6c0" [ label = "{Agent_turn_right}"] +; + "6c0" -> 15 [ label= "1" ]; + "6c1" [shape = "point"]; + 6 -> "6c1" [ label = "{Agent_turn_left}"] +; + "6c1" -> 33 [ label= "1" ]; + "7c0" [shape = "point"]; + 7 -> "7c0" [ label = "{}"] +; + "7c0" -> 7 [ label= "1" ]; + "8c0" [shape = "point"]; + 8 -> "8c0" [ label = "{Agent_turn_right}"] +; + "8c0" -> 17 [ label= "1" ]; + "8c1" [shape = "point"]; + 8 -> "8c1" [ label = "{Agent_turn_left}"] +; + "8c1" -> 35 [ label= "1" ]; + "8c2" [shape = "point"]; + 8 -> "8c2" [ label = "{Agent_move_East}"] +; + "8c2" -> 9 [ label= "1" ]; + "9c0" [shape = "point"]; + 9 -> "9c0" [ label = "{Agent_turn_right}"] +; + "9c0" -> 18 [ label= "1" ]; + "9c1" [shape = "point"]; + 9 -> "9c1" [ label = "{Agent_turn_left}"] +; + "9c1" -> 36 [ label= "1" ]; + "10c0" [shape = "point"]; + 10 -> "10c0" [ label = "{}"] +; + "10c0" -> 10 [ label= "1" ]; + "11c0" [shape = "point"]; + 11 -> "11c0" [ label = "{Agent_turn_right}"] +; + "11c0" -> 20 [ label= "1" ]; + "11c1" [shape = "point"]; + 11 -> "11c1" [ label = "{Agent_turn_left}"] +; + "11c1" -> 38 [ label= "1" ]; + "11c2" [shape = "point"]; + 11 -> "11c2" [ label = "{Agent_move_East}"] +; + "11c2" -> 12 [ label= "1" ]; + "12c0" [shape = "point"]; + 12 -> "12c0" [ label = "{Agent_turn_right}"] +; + "12c0" -> 21 [ label= "1" ]; + "12c1" [shape = "point"]; + 12 -> "12c1" [ label = "{Agent_turn_left}"] +; + "12c1" -> 39 [ label= "1" ]; + "13c0" [shape = "point"]; + 13 -> "13c0" [ label = "{Agent_turn_right}"] +; + "13c0" -> 22 [ label= "1" ]; + "13c1" [shape = "point"]; + 13 -> "13c1" [ label = "{Agent_turn_left}"] +; + "13c1" -> 4 [ label= "1" ]; + "13c2" [shape = "point"]; + 13 -> "13c2" [ label = "{Agent_move_South}"] +; + "13c2" -> 16 [ label= "1" ]; + "14c0" [shape = "point"]; + 14 -> "14c0" [ label = "{Agent_turn_right}"] +; + "14c0" -> 23 [ label= "1" ]; + "14c1" [shape = "point"]; + 14 -> "14c1" [ label = "{Agent_turn_left}"] +; + "14c1" -> 5 [ label= "1" ]; + "14c2" [shape = "point"]; + 14 -> "14c2" [ label = "{Agent_move_South}"] +; + "14c2" -> 17 [ label= "1" ]; + "15c0" [shape = "point"]; + 15 -> "15c0" [ label = "{Agent_turn_right}"] +; + "15c0" -> 24 [ label= "1" ]; + "15c1" [shape = "point"]; + 15 -> "15c1" [ label = "{Agent_turn_left}"] +; + "15c1" -> 6 [ label= "1" ]; + "15c2" [shape = "point"]; + 15 -> "15c2" [ label = "{Agent_move_South}"] +; + "15c2" -> 18 [ label= "1" ]; + "16c0" [shape = "point"]; + 16 -> "16c0" [ label = "{}"] +; + "16c0" -> 16 [ label= "1" ]; + "17c0" [shape = "point"]; + 17 -> "17c0" [ label = "{Agent_turn_right}"] +; + "17c0" -> 26 [ label= "1" ]; + "17c1" [shape = "point"]; + 17 -> "17c1" [ label = "{Agent_turn_left}"] +; + "17c1" -> 8 [ label= "1" ]; + "17c2" [shape = "point"]; + 17 -> "17c2" [ label = "{Agent_move_South}"] +; + "17c2" -> 20 [ label= "1" ]; + "18c0" [shape = "point"]; + 18 -> "18c0" [ label = "{Agent_turn_right}"] +; + "18c0" -> 27 [ label= "1" ]; + "18c1" [shape = "point"]; + 18 -> "18c1" [ label = "{Agent_turn_left}"] +; + "18c1" -> 9 [ label= "1" ]; + "18c2" [shape = "point"]; + 18 -> "18c2" [ label = "{Agent_move_South}"] +; + "18c2" -> 21 [ label= "1" ]; + "19c0" [shape = "point"]; + 19 -> "19c0" [ label = "{}"] +; + "19c0" -> 19 [ label= "1" ]; + "20c0" [shape = "point"]; + 20 -> "20c0" [ label = "{Agent_turn_right}"] +; + "20c0" -> 29 [ label= "1" ]; + "20c1" [shape = "point"]; + 20 -> "20c1" [ label = "{Agent_turn_left}"] +; + "20c1" -> 11 [ label= "1" ]; + "21c0" [shape = "point"]; + 21 -> "21c0" [ label = "{Agent_turn_right}"] +; + "21c0" -> 30 [ label= "1" ]; + "21c1" [shape = "point"]; + 21 -> "21c1" [ label = "{Agent_turn_left}"] +; + "21c1" -> 12 [ label= "1" ]; + "22c0" [shape = "point"]; + 22 -> "22c0" [ label = "{Agent_turn_right}"] +; + "22c0" -> 31 [ label= "1" ]; + "22c1" [shape = "point"]; + 22 -> "22c1" [ label = "{Agent_turn_left}"] +; + "22c1" -> 13 [ label= "1" ]; + "22c2" [shape = "point"]; + 22 -> "22c2" [ label = "{Agent_move_West}"] +; + "22c2" -> 46 [ label= "1" ]; + "23c0" [shape = "point"]; + 23 -> "23c0" [ label = "{Agent_turn_right}"] +; + "23c0" -> 32 [ label= "1" ]; + "23c1" [shape = "point"]; + 23 -> "23c1" [ label = "{Agent_turn_left}"] +; + "23c1" -> 14 [ label= "1" ]; + "23c2" [shape = "point"]; + 23 -> "23c2" [ label = "{Agent_move_West}"] +; + "23c2" -> 22 [ label= "1" ]; + "24c0" [shape = "point"]; + 24 -> "24c0" [ label = "{Agent_turn_right}"] +; + "24c0" -> 33 [ label= "1" ]; + "24c1" [shape = "point"]; + 24 -> "24c1" [ label = "{Agent_turn_left}"] +; + "24c1" -> 15 [ label= "1" ]; + "24c2" [shape = "point"]; + 24 -> "24c2" [ label = "{Agent_move_West}"] +; + "24c2" -> 23 [ label= "1" ]; + "25c0" [shape = "point"]; + 25 -> "25c0" [ label = "{}"] +; + "25c0" -> 25 [ label= "1" ]; + "26c0" [shape = "point"]; + 26 -> "26c0" [ label = "{Agent_turn_right}"] +; + "26c0" -> 35 [ label= "1" ]; + "26c1" [shape = "point"]; + 26 -> "26c1" [ label = "{Agent_turn_left}"] +; + "26c1" -> 17 [ label= "1" ]; + "26c2" [shape = "point"]; + 26 -> "26c2" [ label = "{Agent_move_West}"] +; + "26c2" -> 25 [ label= "1" ]; + "27c0" [shape = "point"]; + 27 -> "27c0" [ label = "{Agent_turn_right}"] +; + "27c0" -> 36 [ label= "1" ]; + "27c1" [shape = "point"]; + 27 -> "27c1" [ label = "{Agent_turn_left}"] +; + "27c1" -> 18 [ label= "1" ]; + "27c2" [shape = "point"]; + 27 -> "27c2" [ label = "{Agent_move_West}"] +; + "27c2" -> 26 [ label= "1" ]; + "28c0" [shape = "point"]; + 28 -> "28c0" [ label = "{}"] +; + "28c0" -> 28 [ label= "1" ]; + "29c0" [shape = "point"]; + 29 -> "29c0" [ label = "{Agent_turn_right}"] +; + "29c0" -> 38 [ label= "1" ]; + "29c1" [shape = "point"]; + 29 -> "29c1" [ label = "{Agent_turn_left}"] +; + "29c1" -> 20 [ label= "1" ]; + "29c2" [shape = "point"]; + 29 -> "29c2" [ label = "{Agent_move_West}"] +; + "29c2" -> 28 [ label= "1" ]; + "30c0" [shape = "point"]; + 30 -> "30c0" [ label = "{Agent_turn_right}"] +; + "30c0" -> 39 [ label= "1" ]; + "30c1" [shape = "point"]; + 30 -> "30c1" [ label = "{Agent_turn_left}"] +; + "30c1" -> 21 [ label= "1" ]; + "31c0" [shape = "point"]; + 31 -> "31c0" [ label = "{Agent_turn_right}"] +; + "31c0" -> 4 [ label= "1" ]; + "31c1" [shape = "point"]; + 31 -> "31c1" [ label = "{Agent_turn_left}"] +; + "31c1" -> 22 [ label= "1" ]; + "31c2" [shape = "point"]; + 31 -> "31c2" [ label = "{Agent_move_North}"] +; + "31c2" -> 47 [ label= "1" ]; + "32c0" [shape = "point"]; + 32 -> "32c0" [ label = "{Agent_turn_right}"] +; + "32c0" -> 5 [ label= "1" ]; + "32c1" [shape = "point"]; + 32 -> "32c1" [ label = "{Agent_turn_left}"] +; + "32c1" -> 23 [ label= "1" ]; + "32c2" [shape = "point"]; + 32 -> "32c2" [ label = "{Agent_move_North}"] +; + "32c2" -> 43 [ label= "1" ]; + "33c0" [shape = "point"]; + 33 -> "33c0" [ label = "{Agent_turn_right}"] +; + "33c0" -> 6 [ label= "1" ]; + "33c1" [shape = "point"]; + 33 -> "33c1" [ label = "{Agent_turn_left}"] +; + "33c1" -> 24 [ label= "1" ]; + "33c2" [shape = "point"]; + 33 -> "33c2" [ label = "{Agent_move_North}"] +; + "33c2" -> 45 [ label= "1" ]; + "34c0" [shape = "point"]; + 34 -> "34c0" [ label = "{}"] +; + "34c0" -> 34 [ label= "1" ]; + "35c0" [shape = "point"]; + 35 -> "35c0" [ label = "{Agent_turn_right}"] +; + "35c0" -> 8 [ label= "1" ]; + "35c1" [shape = "point"]; + 35 -> "35c1" [ label = "{Agent_turn_left}"] +; + "35c1" -> 26 [ label= "1" ]; + "35c2" [shape = "point"]; + 35 -> "35c2" [ label = "{Agent_move_North}"] +; + "35c2" -> 32 [ label= "1" ]; + "36c0" [shape = "point"]; + 36 -> "36c0" [ label = "{Agent_turn_right}"] +; + "36c0" -> 9 [ label= "1" ]; + "36c1" [shape = "point"]; + 36 -> "36c1" [ label = "{Agent_turn_left}"] +; + "36c1" -> 27 [ label= "1" ]; + "36c2" [shape = "point"]; + 36 -> "36c2" [ label = "{Agent_move_North}"] +; + "36c2" -> 33 [ label= "1" ]; + "37c0" [shape = "point"]; + 37 -> "37c0" [ label = "{}"] +; + "37c0" -> 37 [ label= "1" ]; + "38c0" [shape = "point"]; + 38 -> "38c0" [ label = "{Agent_turn_right}"] +; + "38c0" -> 11 [ label= "1" ]; 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