diff --git a/examples/tmaze_learning_demo.ipynb b/examples/tmaze_learning_demo.ipynb index 48fb96f6..56523722 100644 --- a/examples/tmaze_learning_demo.ipynb +++ b/examples/tmaze_learning_demo.ipynb @@ -27,7 +27,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -59,7 +59,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -80,7 +80,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -92,7 +92,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ @@ -105,11 +105,36 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 5, "metadata": { "scrolled": true }, - "outputs": [], + "outputs": [ + { + "data": { + "image/png": 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", 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", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], "source": [ "plot_likelihood(A_gm[1][:,:,0],'Initial beliefs about reward mapping')\n", "plot_likelihood(A_gp[1][:,:,0],'True reward mapping in RIGHT ARM (Condition 0)')" @@ -117,16 +142,29 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], "source": [ "plot_likelihood(A_gm[2][:,:,0],'Initial beliefs about cue mapping')" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 7, "metadata": {}, "outputs": [], "source": [ @@ -135,7 +173,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 8, "metadata": {}, "outputs": [], "source": [ @@ -145,7 +183,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 9, "metadata": {}, "outputs": [], "source": [ @@ -158,7 +196,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 10, "metadata": {}, "outputs": [], "source": [ @@ -167,7 +205,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 11, "metadata": {}, "outputs": [], "source": [ @@ -177,9 +215,2018 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 12, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + " === Starting experiment === \n", + " Reward condition: Left arm Better, Observation: [CENTER, No reward, Null]\n", + "[Step 0] Action: [Move to CUE LOCATION]\n", + "[Step 0] Observation: [CUE LOCATION, No reward, Cue Left]\n", + "[Step 1] Action: [Move to RIGHT ARM]\n", + "[Step 1] Observation: [RIGHT ARM, Loss!, Null]\n", + "[Step 2] Action: [Move to RIGHT ARM]\n", + "[Step 2] Observation: [RIGHT ARM, Loss!, Null]\n", + "[Step 3] Action: [Move to LEFT ARM]\n", + "[Step 3] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 4] Action: [Move to LEFT ARM]\n", + "[Step 4] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 5] Action: [Move to LEFT ARM]\n", + "[Step 5] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 6] Action: [Move to LEFT ARM]\n", + "[Step 6] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 7] Action: [Move to LEFT ARM]\n", + "[Step 7] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 8] Action: [Move to LEFT ARM]\n", + "[Step 8] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 9] Action: [Move to LEFT ARM]\n", + "[Step 9] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 10] Action: [Move to LEFT ARM]\n", + "[Step 10] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 11] Action: [Move to LEFT ARM]\n", + "[Step 11] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 12] Action: [Move to LEFT ARM]\n", + "[Step 12] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 13] Action: [Move to LEFT ARM]\n", + "[Step 13] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 14] Action: [Move to LEFT ARM]\n", + "[Step 14] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 15] Action: [Move to LEFT ARM]\n", + "[Step 15] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 16] Action: [Move to LEFT ARM]\n", + "[Step 16] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 17] Action: [Move to LEFT ARM]\n", + "[Step 17] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 18] Action: [Move to LEFT ARM]\n", + "[Step 18] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 19] Action: [Move to LEFT ARM]\n", + "[Step 19] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 20] Action: [Move to LEFT ARM]\n", + "[Step 20] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 21] Action: [Move to LEFT ARM]\n", + "[Step 21] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 22] Action: [Move to LEFT ARM]\n", + "[Step 22] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 23] Action: [Move to LEFT ARM]\n", + "[Step 23] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 24] Action: [Move to LEFT ARM]\n", + "[Step 24] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 25] Action: [Move to LEFT ARM]\n", + "[Step 25] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 26] Action: [Move to LEFT ARM]\n", + "[Step 26] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 27] Action: [Move to LEFT ARM]\n", + "[Step 27] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 28] Action: [Move to LEFT ARM]\n", + "[Step 28] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 29] Action: [Move to LEFT ARM]\n", + "[Step 29] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 30] Action: [Move to LEFT ARM]\n", + "[Step 30] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 31] Action: [Move to LEFT ARM]\n", + "[Step 31] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 32] Action: [Move to LEFT ARM]\n", + "[Step 32] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 33] Action: [Move to LEFT ARM]\n", + "[Step 33] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 34] Action: [Move to LEFT ARM]\n", + "[Step 34] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 35] Action: [Move to LEFT ARM]\n", + "[Step 35] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 36] Action: [Move to LEFT ARM]\n", + "[Step 36] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 37] Action: [Move to LEFT ARM]\n", + "[Step 37] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 38] Action: [Move to LEFT ARM]\n", + "[Step 38] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 39] Action: [Move to LEFT ARM]\n", + "[Step 39] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 40] Action: [Move to LEFT ARM]\n", + "[Step 40] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 41] Action: [Move to LEFT ARM]\n", + "[Step 41] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 42] Action: [Move to LEFT ARM]\n", + "[Step 42] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 43] Action: [Move to LEFT ARM]\n", + "[Step 43] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 44] Action: [Move to LEFT ARM]\n", + "[Step 44] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 45] Action: [Move to LEFT ARM]\n", + "[Step 45] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 46] Action: [Move to LEFT ARM]\n", + "[Step 46] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 47] Action: [Move to LEFT ARM]\n", + "[Step 47] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 48] Action: [Move to LEFT ARM]\n", + "[Step 48] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 49] Action: [Move to LEFT ARM]\n", + "[Step 49] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 50] Action: [Move to LEFT ARM]\n", + "[Step 50] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 51] Action: [Move to LEFT ARM]\n", + "[Step 51] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 52] Action: [Move to LEFT ARM]\n", + "[Step 52] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 53] Action: [Move to LEFT ARM]\n", + "[Step 53] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 54] Action: [Move to LEFT ARM]\n", + "[Step 54] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 55] Action: [Move to LEFT ARM]\n", + "[Step 55] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 56] Action: [Move to LEFT ARM]\n", + "[Step 56] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 57] Action: [Move to LEFT ARM]\n", + "[Step 57] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 58] Action: [Move to LEFT ARM]\n", + "[Step 58] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 59] Action: [Move to LEFT ARM]\n", + "[Step 59] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 60] Action: [Move to LEFT ARM]\n", + "[Step 60] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 61] Action: [Move to LEFT ARM]\n", + "[Step 61] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 62] Action: [Move to LEFT ARM]\n", + "[Step 62] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 63] Action: [Move to LEFT ARM]\n", + "[Step 63] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 64] Action: [Move to LEFT ARM]\n", + "[Step 64] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 65] Action: [Move to LEFT ARM]\n", + "[Step 65] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 66] Action: [Move to LEFT ARM]\n", + "[Step 66] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 67] Action: [Move to LEFT ARM]\n", + "[Step 67] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 68] Action: [Move to LEFT ARM]\n", + "[Step 68] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 69] Action: [Move to LEFT ARM]\n", + "[Step 69] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 70] Action: [Move to LEFT ARM]\n", + "[Step 70] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 71] Action: [Move to LEFT ARM]\n", + "[Step 71] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 72] Action: [Move to LEFT ARM]\n", + "[Step 72] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 73] Action: [Move to LEFT ARM]\n", + "[Step 73] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 74] Action: [Move to LEFT ARM]\n", + "[Step 74] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 75] Action: [Move to LEFT ARM]\n", + "[Step 75] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 76] Action: [Move to LEFT ARM]\n", + "[Step 76] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 77] Action: [Move to LEFT ARM]\n", + "[Step 77] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 78] Action: [Move to LEFT ARM]\n", + "[Step 78] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 79] Action: [Move to LEFT ARM]\n", + "[Step 79] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 80] Action: [Move to LEFT ARM]\n", + "[Step 80] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 81] Action: [Move to LEFT ARM]\n", + "[Step 81] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 82] Action: [Move to LEFT ARM]\n", + "[Step 82] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 83] Action: [Move to LEFT ARM]\n", + "[Step 83] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 84] Action: [Move to LEFT ARM]\n", + "[Step 84] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 85] Action: [Move to LEFT ARM]\n", + "[Step 85] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 86] Action: [Move to LEFT ARM]\n", + "[Step 86] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 87] Action: [Move to LEFT ARM]\n", + "[Step 87] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 88] Action: [Move to LEFT ARM]\n", + "[Step 88] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 89] Action: [Move to LEFT ARM]\n", + "[Step 89] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 90] Action: [Move to LEFT ARM]\n", + "[Step 90] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 91] Action: [Move to LEFT ARM]\n", + "[Step 91] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 92] Action: [Move to LEFT ARM]\n", + "[Step 92] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 93] Action: [Move to LEFT ARM]\n", + "[Step 93] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 94] Action: [Move to LEFT ARM]\n", + "[Step 94] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 95] Action: [Move to LEFT ARM]\n", + "[Step 95] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 96] Action: [Move to LEFT ARM]\n", + "[Step 96] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 97] Action: [Move to LEFT ARM]\n", + "[Step 97] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 98] Action: [Move to LEFT ARM]\n", + "[Step 98] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 99] Action: [Move to LEFT ARM]\n", + "[Step 99] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 100] Action: [Move to LEFT ARM]\n", + "[Step 100] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 101] Action: [Move to LEFT ARM]\n", + "[Step 101] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 102] Action: [Move to LEFT ARM]\n", + "[Step 102] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 103] Action: [Move to LEFT ARM]\n", + "[Step 103] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 104] Action: [Move to LEFT ARM]\n", + "[Step 104] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 105] Action: [Move to LEFT ARM]\n", + "[Step 105] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 106] Action: [Move to LEFT ARM]\n", + "[Step 106] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 107] Action: [Move to LEFT ARM]\n", + "[Step 107] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 108] Action: [Move to LEFT ARM]\n", + "[Step 108] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 109] Action: [Move to LEFT ARM]\n", + "[Step 109] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 110] Action: [Move to LEFT ARM]\n", + "[Step 110] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 111] Action: [Move to LEFT ARM]\n", + "[Step 111] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 112] Action: [Move to LEFT ARM]\n", + "[Step 112] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 113] Action: [Move to LEFT ARM]\n", + "[Step 113] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 114] Action: [Move to LEFT ARM]\n", + "[Step 114] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 115] Action: [Move to LEFT ARM]\n", + "[Step 115] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 116] Action: [Move to LEFT ARM]\n", + "[Step 116] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 117] Action: [Move to LEFT ARM]\n", + "[Step 117] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 118] Action: [Move to LEFT ARM]\n", + "[Step 118] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 119] Action: [Move to LEFT ARM]\n", + "[Step 119] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 120] Action: [Move to LEFT ARM]\n", + "[Step 120] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 121] Action: [Move to LEFT ARM]\n", + "[Step 121] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 122] Action: [Move to LEFT ARM]\n", + "[Step 122] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 123] Action: [Move to LEFT ARM]\n", + "[Step 123] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 124] Action: [Move to LEFT ARM]\n", + "[Step 124] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 125] Action: [Move to LEFT ARM]\n", + "[Step 125] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 126] Action: [Move to LEFT ARM]\n", + "[Step 126] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 127] Action: [Move to LEFT ARM]\n", + "[Step 127] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 128] Action: [Move to LEFT ARM]\n", + "[Step 128] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 129] Action: [Move to LEFT ARM]\n", + "[Step 129] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 130] Action: [Move to LEFT ARM]\n", + "[Step 130] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 131] Action: [Move to LEFT ARM]\n", + "[Step 131] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 132] Action: [Move to LEFT ARM]\n", + "[Step 132] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 133] Action: [Move to LEFT ARM]\n", + "[Step 133] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 134] Action: [Move to LEFT ARM]\n", + "[Step 134] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 135] Action: [Move to LEFT ARM]\n", + "[Step 135] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 136] Action: [Move to LEFT ARM]\n", + "[Step 136] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 137] Action: [Move to LEFT ARM]\n", + "[Step 137] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 138] Action: [Move to LEFT ARM]\n", + "[Step 138] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 139] Action: [Move to LEFT ARM]\n", + "[Step 139] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 140] Action: [Move to LEFT ARM]\n", + "[Step 140] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 141] Action: [Move to LEFT ARM]\n", + "[Step 141] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 142] Action: [Move to LEFT ARM]\n", + "[Step 142] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 143] Action: [Move to LEFT ARM]\n", + "[Step 143] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 144] Action: [Move to LEFT ARM]\n", + "[Step 144] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 145] Action: [Move to LEFT ARM]\n", + "[Step 145] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 146] Action: [Move to LEFT ARM]\n", + "[Step 146] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 147] Action: [Move to LEFT ARM]\n", + "[Step 147] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 148] Action: [Move to LEFT ARM]\n", + "[Step 148] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 149] Action: [Move to LEFT ARM]\n", + "[Step 149] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 150] Action: [Move to LEFT ARM]\n", + "[Step 150] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 151] Action: [Move to LEFT ARM]\n", + "[Step 151] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 152] Action: [Move to LEFT ARM]\n", + "[Step 152] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 153] Action: [Move to LEFT ARM]\n", + "[Step 153] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 154] Action: [Move to LEFT ARM]\n", + "[Step 154] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 155] Action: [Move to LEFT ARM]\n", + "[Step 155] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 156] Action: [Move to LEFT ARM]\n", + "[Step 156] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 157] Action: [Move to LEFT ARM]\n", + "[Step 157] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 158] Action: [Move to LEFT ARM]\n", + "[Step 158] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 159] Action: [Move to LEFT ARM]\n", + "[Step 159] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 160] Action: [Move to LEFT ARM]\n", + "[Step 160] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 161] Action: [Move to LEFT ARM]\n", + "[Step 161] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 162] Action: [Move to LEFT ARM]\n", + "[Step 162] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 163] Action: [Move to LEFT ARM]\n", + "[Step 163] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 164] Action: [Move to LEFT ARM]\n", + "[Step 164] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 165] Action: [Move to LEFT ARM]\n", + "[Step 165] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 166] Action: [Move to LEFT ARM]\n", + "[Step 166] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 167] Action: [Move to LEFT ARM]\n", + "[Step 167] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 168] Action: [Move to LEFT ARM]\n", + "[Step 168] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 169] Action: [Move to LEFT ARM]\n", + "[Step 169] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 170] Action: [Move to LEFT ARM]\n", + "[Step 170] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 171] Action: [Move to LEFT ARM]\n", + "[Step 171] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 172] Action: [Move to LEFT ARM]\n", + "[Step 172] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 173] Action: [Move to LEFT ARM]\n", + "[Step 173] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 174] Action: [Move to LEFT ARM]\n", + "[Step 174] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 175] Action: [Move to LEFT ARM]\n", + "[Step 175] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 176] Action: [Move to LEFT ARM]\n", + "[Step 176] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 177] Action: [Move to LEFT ARM]\n", + "[Step 177] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 178] Action: [Move to LEFT ARM]\n", + "[Step 178] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 179] Action: [Move to LEFT ARM]\n", + "[Step 179] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 180] Action: [Move to LEFT ARM]\n", + "[Step 180] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 181] Action: [Move to LEFT ARM]\n", + "[Step 181] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 182] Action: [Move to LEFT ARM]\n", + "[Step 182] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 183] Action: [Move to LEFT ARM]\n", + "[Step 183] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 184] Action: [Move to LEFT ARM]\n", + "[Step 184] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 185] Action: [Move to LEFT ARM]\n", + "[Step 185] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 186] Action: [Move to LEFT ARM]\n", + "[Step 186] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 187] Action: [Move to LEFT ARM]\n", + "[Step 187] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 188] Action: [Move to LEFT ARM]\n", + "[Step 188] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 189] Action: [Move to LEFT ARM]\n", + "[Step 189] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 190] Action: [Move to LEFT ARM]\n", + "[Step 190] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 191] Action: [Move to LEFT ARM]\n", + "[Step 191] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 192] Action: [Move to LEFT ARM]\n", + "[Step 192] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 193] Action: [Move to LEFT ARM]\n", + "[Step 193] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 194] Action: [Move to LEFT ARM]\n", + "[Step 194] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 195] Action: [Move to LEFT ARM]\n", + "[Step 195] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 196] Action: [Move to LEFT ARM]\n", + "[Step 196] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 197] Action: [Move to LEFT ARM]\n", + "[Step 197] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 198] Action: [Move to LEFT ARM]\n", + "[Step 198] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 199] Action: [Move to LEFT ARM]\n", + "[Step 199] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 200] Action: [Move to LEFT ARM]\n", + "[Step 200] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 201] Action: [Move to LEFT ARM]\n", + "[Step 201] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 202] Action: [Move to LEFT ARM]\n", + "[Step 202] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 203] Action: [Move to LEFT ARM]\n", + "[Step 203] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 204] Action: [Move to LEFT ARM]\n", + "[Step 204] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 205] Action: [Move to LEFT ARM]\n", + "[Step 205] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 206] Action: [Move to LEFT ARM]\n", + "[Step 206] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 207] Action: [Move to LEFT ARM]\n", + "[Step 207] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 208] Action: [Move to LEFT ARM]\n", + "[Step 208] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 209] Action: [Move to LEFT ARM]\n", + "[Step 209] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 210] Action: [Move to LEFT ARM]\n", + "[Step 210] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 211] Action: [Move to LEFT ARM]\n", + "[Step 211] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 212] Action: [Move to LEFT ARM]\n", + "[Step 212] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 213] Action: [Move to LEFT ARM]\n", + "[Step 213] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 214] Action: [Move to LEFT ARM]\n", + "[Step 214] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 215] Action: [Move to LEFT ARM]\n", + "[Step 215] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 216] Action: [Move to LEFT ARM]\n", + "[Step 216] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 217] Action: [Move to LEFT ARM]\n", + "[Step 217] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 218] Action: [Move to LEFT ARM]\n", + "[Step 218] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 219] Action: [Move to LEFT ARM]\n", + "[Step 219] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 220] Action: [Move to LEFT ARM]\n", + "[Step 220] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 221] Action: [Move to LEFT ARM]\n", + "[Step 221] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 222] Action: [Move to LEFT ARM]\n", + "[Step 222] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 223] Action: [Move to LEFT ARM]\n", + "[Step 223] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 224] Action: [Move to LEFT ARM]\n", + "[Step 224] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 225] Action: [Move to LEFT ARM]\n", + "[Step 225] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 226] Action: [Move to LEFT ARM]\n", + "[Step 226] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 227] Action: [Move to LEFT ARM]\n", + "[Step 227] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 228] Action: [Move to LEFT ARM]\n", + "[Step 228] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 229] Action: [Move to LEFT ARM]\n", + "[Step 229] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 230] Action: [Move to LEFT ARM]\n", + "[Step 230] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 231] Action: [Move to LEFT ARM]\n", + "[Step 231] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 232] Action: [Move to LEFT ARM]\n", + "[Step 232] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 233] Action: [Move to LEFT ARM]\n", + "[Step 233] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 234] Action: [Move to LEFT ARM]\n", + "[Step 234] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 235] Action: [Move to LEFT ARM]\n", + "[Step 235] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 236] Action: [Move to LEFT ARM]\n", + "[Step 236] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 237] Action: [Move to LEFT ARM]\n", + "[Step 237] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 238] Action: [Move to LEFT ARM]\n", + "[Step 238] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 239] Action: [Move to LEFT ARM]\n", + "[Step 239] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 240] Action: [Move to LEFT ARM]\n", + "[Step 240] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 241] Action: [Move to LEFT ARM]\n", + "[Step 241] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 242] Action: [Move to LEFT ARM]\n", + "[Step 242] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 243] Action: [Move to LEFT ARM]\n", + "[Step 243] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 244] Action: [Move to LEFT ARM]\n", + "[Step 244] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 245] Action: [Move to LEFT ARM]\n", + "[Step 245] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 246] Action: [Move to LEFT ARM]\n", + "[Step 246] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 247] Action: [Move to LEFT ARM]\n", + "[Step 247] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 248] Action: [Move to LEFT ARM]\n", + "[Step 248] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 249] Action: [Move to LEFT ARM]\n", + "[Step 249] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 250] Action: [Move to LEFT ARM]\n", + "[Step 250] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 251] Action: [Move to LEFT ARM]\n", + "[Step 251] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 252] Action: [Move to LEFT ARM]\n", + "[Step 252] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 253] Action: [Move to LEFT ARM]\n", + "[Step 253] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 254] Action: [Move to LEFT ARM]\n", + "[Step 254] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 255] Action: [Move to LEFT ARM]\n", + "[Step 255] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 256] Action: [Move to LEFT ARM]\n", + "[Step 256] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 257] Action: [Move to LEFT ARM]\n", + "[Step 257] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 258] Action: [Move to LEFT ARM]\n", + "[Step 258] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 259] Action: [Move to LEFT ARM]\n", + "[Step 259] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 260] Action: [Move to LEFT ARM]\n", + "[Step 260] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 261] Action: [Move to LEFT ARM]\n", + "[Step 261] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 262] Action: [Move to LEFT ARM]\n", + "[Step 262] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 263] Action: [Move to LEFT ARM]\n", + "[Step 263] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 264] Action: [Move to LEFT ARM]\n", + "[Step 264] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 265] Action: [Move to LEFT ARM]\n", + "[Step 265] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 266] Action: [Move to LEFT ARM]\n", + "[Step 266] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 267] Action: [Move to LEFT ARM]\n", + "[Step 267] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 268] Action: [Move to LEFT ARM]\n", + "[Step 268] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 269] Action: [Move to LEFT ARM]\n", + "[Step 269] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 270] Action: [Move to LEFT ARM]\n", + "[Step 270] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 271] Action: [Move to LEFT ARM]\n", + "[Step 271] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 272] Action: [Move to LEFT ARM]\n", + "[Step 272] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 273] Action: [Move to LEFT ARM]\n", + "[Step 273] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 274] Action: [Move to LEFT ARM]\n", + "[Step 274] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 275] Action: [Move to LEFT ARM]\n", + "[Step 275] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 276] Action: [Move to LEFT ARM]\n", + "[Step 276] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 277] Action: [Move to LEFT ARM]\n", + "[Step 277] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 278] Action: [Move to LEFT ARM]\n", + "[Step 278] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 279] Action: [Move to LEFT ARM]\n", + "[Step 279] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 280] Action: [Move to LEFT ARM]\n", + "[Step 280] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 281] Action: [Move to LEFT ARM]\n", + "[Step 281] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 282] Action: [Move to LEFT ARM]\n", + "[Step 282] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 283] Action: [Move to LEFT ARM]\n", + "[Step 283] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 284] Action: [Move to LEFT ARM]\n", + "[Step 284] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 285] Action: [Move to LEFT ARM]\n", + "[Step 285] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 286] Action: [Move to LEFT ARM]\n", + "[Step 286] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 287] Action: [Move to LEFT ARM]\n", + "[Step 287] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 288] Action: [Move to LEFT ARM]\n", + "[Step 288] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 289] Action: [Move to LEFT ARM]\n", + "[Step 289] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 290] Action: [Move to LEFT ARM]\n", + "[Step 290] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 291] Action: [Move to LEFT ARM]\n", + "[Step 291] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 292] Action: [Move to LEFT ARM]\n", + "[Step 292] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 293] Action: [Move to LEFT ARM]\n", + "[Step 293] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 294] Action: [Move to LEFT ARM]\n", + "[Step 294] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 295] Action: [Move to LEFT ARM]\n", + "[Step 295] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 296] Action: [Move to LEFT ARM]\n", + "[Step 296] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 297] Action: [Move to LEFT ARM]\n", + "[Step 297] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 298] Action: [Move to LEFT ARM]\n", + "[Step 298] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 299] Action: [Move to LEFT ARM]\n", + "[Step 299] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 300] Action: [Move to LEFT ARM]\n", + "[Step 300] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 301] Action: [Move to LEFT ARM]\n", + "[Step 301] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 302] Action: [Move to LEFT ARM]\n", + "[Step 302] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 303] Action: [Move to LEFT ARM]\n", + "[Step 303] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 304] Action: [Move to LEFT ARM]\n", + "[Step 304] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 305] Action: [Move to LEFT ARM]\n", + "[Step 305] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 306] Action: [Move to LEFT ARM]\n", + "[Step 306] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 307] Action: [Move to LEFT ARM]\n", + "[Step 307] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 308] Action: [Move to LEFT ARM]\n", + "[Step 308] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 309] Action: [Move to LEFT ARM]\n", + "[Step 309] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 310] Action: [Move to LEFT ARM]\n", + "[Step 310] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 311] Action: [Move to LEFT ARM]\n", + "[Step 311] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 312] Action: [Move to LEFT ARM]\n", + "[Step 312] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 313] Action: [Move to LEFT ARM]\n", + "[Step 313] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 314] Action: [Move to LEFT ARM]\n", + "[Step 314] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 315] Action: [Move to LEFT ARM]\n", + "[Step 315] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 316] Action: [Move to LEFT ARM]\n", + "[Step 316] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 317] Action: [Move to LEFT ARM]\n", + "[Step 317] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 318] Action: [Move to LEFT ARM]\n", + "[Step 318] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 319] Action: [Move to LEFT ARM]\n", + "[Step 319] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 320] Action: [Move to LEFT ARM]\n", + "[Step 320] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 321] Action: [Move to LEFT ARM]\n", + "[Step 321] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 322] Action: [Move to LEFT ARM]\n", + "[Step 322] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 323] Action: [Move to LEFT ARM]\n", + "[Step 323] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 324] Action: [Move to LEFT ARM]\n", + "[Step 324] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 325] Action: [Move to LEFT ARM]\n", + "[Step 325] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 326] Action: [Move to LEFT ARM]\n", + "[Step 326] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 327] Action: [Move to LEFT ARM]\n", + "[Step 327] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 328] Action: [Move to LEFT ARM]\n", + "[Step 328] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 329] Action: [Move to LEFT ARM]\n", + "[Step 329] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 330] Action: [Move to LEFT ARM]\n", + "[Step 330] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 331] Action: [Move to LEFT ARM]\n", + "[Step 331] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 332] Action: [Move to LEFT ARM]\n", + "[Step 332] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 333] Action: [Move to LEFT ARM]\n", + "[Step 333] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 334] Action: [Move to LEFT ARM]\n", + "[Step 334] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 335] Action: [Move to LEFT ARM]\n", + "[Step 335] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 336] Action: [Move to LEFT ARM]\n", + "[Step 336] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 337] Action: [Move to LEFT ARM]\n", + "[Step 337] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 338] Action: [Move to LEFT ARM]\n", + "[Step 338] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 339] Action: [Move to LEFT ARM]\n", + "[Step 339] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 340] Action: [Move to LEFT ARM]\n", + "[Step 340] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 341] Action: [Move to LEFT ARM]\n", + "[Step 341] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 342] Action: [Move to LEFT ARM]\n", + "[Step 342] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 343] Action: [Move to LEFT ARM]\n", + "[Step 343] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 344] Action: [Move to LEFT ARM]\n", + "[Step 344] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 345] Action: [Move to LEFT ARM]\n", + "[Step 345] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 346] Action: [Move to LEFT ARM]\n", + "[Step 346] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 347] Action: [Move to LEFT ARM]\n", + "[Step 347] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 348] Action: [Move to LEFT ARM]\n", + "[Step 348] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 349] Action: [Move to LEFT ARM]\n", + "[Step 349] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 350] Action: [Move to LEFT ARM]\n", + "[Step 350] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 351] Action: [Move to LEFT ARM]\n", + "[Step 351] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 352] Action: [Move to LEFT ARM]\n", + "[Step 352] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 353] Action: [Move to LEFT ARM]\n", + "[Step 353] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 354] Action: [Move to LEFT ARM]\n", + "[Step 354] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 355] Action: [Move to LEFT ARM]\n", + "[Step 355] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 356] Action: [Move to LEFT ARM]\n", + "[Step 356] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 357] Action: [Move to LEFT ARM]\n", + "[Step 357] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 358] Action: [Move to LEFT ARM]\n", + "[Step 358] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 359] Action: [Move to LEFT ARM]\n", + "[Step 359] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 360] Action: [Move to LEFT ARM]\n", + "[Step 360] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 361] Action: [Move to LEFT ARM]\n", + "[Step 361] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 362] Action: [Move to LEFT ARM]\n", + "[Step 362] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 363] Action: [Move to LEFT ARM]\n", + "[Step 363] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 364] Action: [Move to LEFT ARM]\n", + "[Step 364] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 365] Action: [Move to LEFT ARM]\n", + "[Step 365] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 366] Action: [Move to LEFT ARM]\n", + "[Step 366] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 367] Action: [Move to LEFT ARM]\n", + "[Step 367] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 368] Action: [Move to LEFT ARM]\n", + "[Step 368] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 369] Action: [Move to LEFT ARM]\n", + "[Step 369] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 370] Action: [Move to LEFT ARM]\n", + "[Step 370] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 371] Action: [Move to LEFT ARM]\n", + "[Step 371] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 372] Action: [Move to LEFT ARM]\n", + "[Step 372] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 373] Action: [Move to LEFT ARM]\n", + "[Step 373] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 374] Action: [Move to LEFT ARM]\n", + "[Step 374] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 375] Action: [Move to LEFT ARM]\n", + "[Step 375] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 376] Action: [Move to LEFT ARM]\n", + "[Step 376] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 377] Action: [Move to LEFT ARM]\n", + "[Step 377] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 378] Action: [Move to LEFT ARM]\n", + "[Step 378] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 379] Action: [Move to LEFT ARM]\n", + "[Step 379] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 380] Action: [Move to LEFT ARM]\n", + "[Step 380] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 381] Action: [Move to LEFT ARM]\n", + "[Step 381] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 382] Action: [Move to LEFT ARM]\n", + "[Step 382] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 383] Action: [Move to LEFT ARM]\n", + "[Step 383] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 384] Action: [Move to LEFT ARM]\n", + "[Step 384] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 385] Action: [Move to LEFT ARM]\n", + "[Step 385] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 386] Action: [Move to LEFT ARM]\n", + "[Step 386] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 387] Action: [Move to LEFT ARM]\n", + "[Step 387] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 388] Action: [Move to LEFT ARM]\n", + "[Step 388] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 389] Action: [Move to LEFT ARM]\n", + "[Step 389] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 390] Action: [Move to LEFT ARM]\n", + "[Step 390] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 391] Action: [Move to LEFT ARM]\n", + "[Step 391] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 392] Action: [Move to LEFT ARM]\n", + "[Step 392] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 393] Action: [Move to LEFT ARM]\n", + "[Step 393] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 394] Action: [Move to LEFT ARM]\n", + "[Step 394] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 395] Action: [Move to LEFT ARM]\n", + "[Step 395] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 396] Action: [Move to LEFT ARM]\n", + "[Step 396] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 397] Action: [Move to LEFT ARM]\n", + "[Step 397] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 398] Action: [Move to LEFT ARM]\n", + "[Step 398] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 399] Action: [Move to LEFT ARM]\n", + "[Step 399] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 400] Action: [Move to LEFT ARM]\n", + "[Step 400] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 401] Action: [Move to LEFT ARM]\n", + "[Step 401] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 402] Action: [Move to LEFT ARM]\n", + "[Step 402] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 403] Action: [Move to LEFT ARM]\n", + "[Step 403] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 404] Action: [Move to LEFT ARM]\n", + "[Step 404] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 405] Action: [Move to LEFT ARM]\n", + "[Step 405] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 406] Action: [Move to LEFT ARM]\n", + "[Step 406] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 407] Action: [Move to LEFT ARM]\n", + "[Step 407] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 408] Action: [Move to LEFT ARM]\n", + "[Step 408] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 409] Action: [Move to LEFT ARM]\n", + "[Step 409] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 410] Action: [Move to LEFT ARM]\n", + "[Step 410] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 411] Action: [Move to LEFT ARM]\n", + "[Step 411] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 412] Action: [Move to LEFT ARM]\n", + "[Step 412] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 413] Action: [Move to LEFT ARM]\n", + "[Step 413] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 414] Action: [Move to LEFT ARM]\n", + "[Step 414] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 415] Action: [Move to LEFT ARM]\n", + "[Step 415] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 416] Action: [Move to LEFT ARM]\n", + "[Step 416] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 417] Action: [Move to LEFT ARM]\n", + "[Step 417] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 418] Action: [Move to LEFT ARM]\n", + "[Step 418] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 419] Action: [Move to LEFT ARM]\n", + "[Step 419] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 420] Action: [Move to LEFT ARM]\n", + "[Step 420] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 421] Action: [Move to LEFT ARM]\n", + "[Step 421] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 422] Action: [Move to LEFT ARM]\n", + "[Step 422] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 423] Action: [Move to LEFT ARM]\n", + "[Step 423] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 424] Action: [Move to LEFT ARM]\n", + "[Step 424] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 425] Action: [Move to LEFT ARM]\n", + "[Step 425] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 426] Action: [Move to LEFT ARM]\n", + "[Step 426] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 427] Action: [Move to LEFT ARM]\n", + "[Step 427] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 428] Action: [Move to LEFT ARM]\n", + "[Step 428] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 429] Action: [Move to LEFT ARM]\n", + "[Step 429] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 430] Action: [Move to LEFT ARM]\n", + "[Step 430] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 431] Action: [Move to LEFT ARM]\n", + "[Step 431] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 432] Action: [Move to LEFT ARM]\n", + "[Step 432] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 433] Action: [Move to LEFT ARM]\n", + "[Step 433] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 434] Action: [Move to LEFT ARM]\n", + "[Step 434] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 435] Action: [Move to LEFT ARM]\n", + "[Step 435] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 436] Action: [Move to LEFT ARM]\n", + "[Step 436] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 437] Action: [Move to LEFT ARM]\n", + "[Step 437] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 438] Action: [Move to LEFT ARM]\n", + "[Step 438] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 439] Action: [Move to LEFT ARM]\n", + "[Step 439] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 440] Action: [Move to LEFT ARM]\n", + "[Step 440] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 441] Action: [Move to LEFT ARM]\n", + "[Step 441] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 442] Action: [Move to LEFT ARM]\n", + "[Step 442] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 443] Action: [Move to LEFT ARM]\n", + "[Step 443] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 444] Action: [Move to LEFT ARM]\n", + "[Step 444] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 445] Action: [Move to LEFT ARM]\n", + "[Step 445] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 446] Action: [Move to LEFT ARM]\n", + "[Step 446] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 447] Action: [Move to LEFT ARM]\n", + "[Step 447] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 448] Action: [Move to LEFT ARM]\n", + "[Step 448] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 449] Action: [Move to LEFT ARM]\n", + "[Step 449] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 450] Action: [Move to LEFT ARM]\n", + "[Step 450] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 451] Action: [Move to LEFT ARM]\n", + "[Step 451] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 452] Action: [Move to LEFT ARM]\n", + "[Step 452] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 453] Action: [Move to LEFT ARM]\n", + "[Step 453] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 454] Action: [Move to LEFT ARM]\n", + "[Step 454] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 455] Action: [Move to LEFT ARM]\n", + "[Step 455] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 456] Action: [Move to LEFT ARM]\n", + "[Step 456] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 457] Action: [Move to LEFT ARM]\n", + "[Step 457] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 458] Action: [Move to LEFT ARM]\n", + "[Step 458] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 459] Action: [Move to LEFT ARM]\n", + "[Step 459] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 460] Action: [Move to LEFT ARM]\n", + "[Step 460] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 461] Action: [Move to LEFT ARM]\n", + "[Step 461] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 462] Action: [Move to LEFT ARM]\n", + "[Step 462] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 463] Action: [Move to LEFT ARM]\n", + "[Step 463] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 464] Action: [Move to LEFT ARM]\n", + "[Step 464] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 465] Action: [Move to LEFT ARM]\n", + "[Step 465] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 466] Action: [Move to LEFT ARM]\n", + "[Step 466] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 467] Action: [Move to LEFT ARM]\n", + "[Step 467] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 468] Action: [Move to LEFT ARM]\n", + "[Step 468] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 469] Action: [Move to LEFT ARM]\n", + "[Step 469] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 470] Action: [Move to LEFT ARM]\n", + "[Step 470] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 471] Action: [Move to LEFT ARM]\n", + "[Step 471] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 472] Action: [Move to LEFT ARM]\n", + "[Step 472] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 473] Action: [Move to LEFT ARM]\n", + "[Step 473] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 474] Action: [Move to LEFT ARM]\n", + "[Step 474] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 475] Action: [Move to LEFT ARM]\n", + "[Step 475] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 476] Action: [Move to LEFT ARM]\n", + "[Step 476] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 477] Action: [Move to LEFT ARM]\n", + "[Step 477] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 478] Action: [Move to LEFT ARM]\n", + "[Step 478] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 479] Action: [Move to LEFT ARM]\n", + "[Step 479] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 480] Action: [Move to LEFT ARM]\n", + "[Step 480] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 481] Action: [Move to LEFT ARM]\n", + "[Step 481] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 482] Action: [Move to LEFT ARM]\n", + "[Step 482] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 483] Action: [Move to LEFT ARM]\n", + "[Step 483] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 484] Action: [Move to LEFT ARM]\n", + "[Step 484] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 485] Action: [Move to LEFT ARM]\n", + "[Step 485] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 486] Action: [Move to LEFT ARM]\n", + "[Step 486] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 487] Action: [Move to LEFT ARM]\n", + "[Step 487] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 488] Action: [Move to LEFT ARM]\n", + "[Step 488] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 489] Action: [Move to LEFT ARM]\n", + "[Step 489] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 490] Action: [Move to LEFT ARM]\n", + "[Step 490] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 491] Action: [Move to LEFT ARM]\n", + "[Step 491] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 492] Action: [Move to LEFT ARM]\n", + "[Step 492] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 493] Action: [Move to LEFT ARM]\n", + "[Step 493] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 494] Action: [Move to LEFT ARM]\n", + "[Step 494] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 495] Action: [Move to LEFT ARM]\n", + "[Step 495] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 496] Action: [Move to LEFT ARM]\n", + "[Step 496] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 497] Action: [Move to LEFT ARM]\n", + "[Step 497] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 498] Action: [Move to LEFT ARM]\n", + "[Step 498] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 499] Action: [Move to LEFT ARM]\n", + "[Step 499] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 500] Action: [Move to LEFT ARM]\n", + "[Step 500] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 501] Action: [Move to LEFT ARM]\n", + "[Step 501] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 502] Action: [Move to LEFT ARM]\n", + "[Step 502] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 503] Action: [Move to LEFT ARM]\n", + "[Step 503] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 504] Action: [Move to LEFT ARM]\n", + "[Step 504] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 505] Action: [Move to LEFT ARM]\n", + "[Step 505] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 506] Action: [Move to LEFT ARM]\n", + "[Step 506] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 507] Action: [Move to LEFT ARM]\n", + "[Step 507] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 508] Action: [Move to LEFT ARM]\n", + "[Step 508] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 509] Action: [Move to LEFT ARM]\n", + "[Step 509] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 510] Action: [Move to LEFT ARM]\n", + "[Step 510] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 511] Action: [Move to LEFT ARM]\n", + "[Step 511] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 512] Action: [Move to LEFT ARM]\n", + "[Step 512] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 513] Action: [Move to LEFT ARM]\n", + "[Step 513] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 514] Action: [Move to LEFT ARM]\n", + "[Step 514] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 515] Action: [Move to LEFT ARM]\n", + "[Step 515] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 516] Action: [Move to LEFT ARM]\n", + "[Step 516] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 517] Action: [Move to LEFT ARM]\n", + "[Step 517] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 518] Action: [Move to LEFT ARM]\n", + "[Step 518] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 519] Action: [Move to LEFT ARM]\n", + "[Step 519] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 520] Action: [Move to LEFT ARM]\n", + "[Step 520] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 521] Action: [Move to LEFT ARM]\n", + "[Step 521] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 522] Action: [Move to LEFT ARM]\n", + "[Step 522] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 523] Action: [Move to LEFT ARM]\n", + "[Step 523] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 524] Action: [Move to LEFT ARM]\n", + "[Step 524] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 525] Action: [Move to LEFT ARM]\n", + "[Step 525] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 526] Action: [Move to LEFT ARM]\n", + "[Step 526] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 527] Action: [Move to LEFT ARM]\n", + "[Step 527] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 528] Action: [Move to LEFT ARM]\n", + "[Step 528] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 529] Action: [Move to LEFT ARM]\n", + "[Step 529] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 530] Action: [Move to LEFT ARM]\n", + "[Step 530] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 531] Action: [Move to LEFT ARM]\n", + "[Step 531] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 532] Action: [Move to LEFT ARM]\n", + "[Step 532] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 533] Action: [Move to LEFT ARM]\n", + "[Step 533] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 534] Action: [Move to LEFT ARM]\n", + "[Step 534] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 535] Action: [Move to LEFT ARM]\n", + "[Step 535] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 536] Action: [Move to LEFT ARM]\n", + "[Step 536] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 537] Action: [Move to LEFT ARM]\n", + "[Step 537] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 538] Action: [Move to LEFT ARM]\n", + "[Step 538] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 539] Action: [Move to LEFT ARM]\n", + "[Step 539] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 540] Action: [Move to LEFT ARM]\n", + "[Step 540] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 541] Action: [Move to LEFT ARM]\n", + "[Step 541] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 542] Action: [Move to LEFT ARM]\n", + "[Step 542] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 543] Action: [Move to LEFT ARM]\n", + "[Step 543] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 544] Action: [Move to LEFT ARM]\n", + "[Step 544] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 545] Action: [Move to LEFT ARM]\n", + "[Step 545] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 546] Action: [Move to LEFT ARM]\n", + "[Step 546] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 547] Action: [Move to LEFT ARM]\n", + "[Step 547] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 548] Action: [Move to LEFT ARM]\n", + "[Step 548] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 549] Action: [Move to LEFT ARM]\n", + "[Step 549] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 550] Action: [Move to LEFT ARM]\n", + "[Step 550] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 551] Action: [Move to LEFT ARM]\n", + "[Step 551] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 552] Action: [Move to LEFT ARM]\n", + "[Step 552] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 553] Action: [Move to LEFT ARM]\n", + "[Step 553] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 554] Action: [Move to LEFT ARM]\n", + "[Step 554] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 555] Action: [Move to LEFT ARM]\n", + "[Step 555] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 556] Action: [Move to LEFT ARM]\n", + "[Step 556] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 557] Action: [Move to LEFT ARM]\n", + "[Step 557] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 558] Action: [Move to LEFT ARM]\n", + "[Step 558] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 559] Action: [Move to LEFT ARM]\n", + "[Step 559] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 560] Action: [Move to LEFT ARM]\n", + "[Step 560] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 561] Action: [Move to LEFT ARM]\n", + "[Step 561] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 562] Action: [Move to LEFT ARM]\n", + "[Step 562] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 563] Action: [Move to LEFT ARM]\n", + "[Step 563] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 564] Action: [Move to LEFT ARM]\n", + "[Step 564] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 565] Action: [Move to LEFT ARM]\n", + "[Step 565] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 566] Action: [Move to LEFT ARM]\n", + "[Step 566] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 567] Action: [Move to LEFT ARM]\n", + "[Step 567] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 568] Action: [Move to LEFT ARM]\n", + "[Step 568] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 569] Action: [Move to LEFT ARM]\n", + "[Step 569] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 570] Action: [Move to LEFT ARM]\n", + "[Step 570] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 571] Action: [Move to LEFT ARM]\n", + "[Step 571] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 572] Action: [Move to LEFT ARM]\n", + "[Step 572] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 573] Action: [Move to LEFT ARM]\n", + "[Step 573] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 574] Action: [Move to LEFT ARM]\n", + "[Step 574] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 575] Action: [Move to LEFT ARM]\n", + "[Step 575] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 576] Action: [Move to LEFT ARM]\n", + "[Step 576] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 577] Action: [Move to LEFT ARM]\n", + "[Step 577] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 578] Action: [Move to LEFT ARM]\n", + "[Step 578] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 579] Action: [Move to LEFT ARM]\n", + "[Step 579] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 580] Action: [Move to LEFT ARM]\n", + "[Step 580] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 581] Action: [Move to LEFT ARM]\n", + "[Step 581] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 582] Action: [Move to LEFT ARM]\n", + "[Step 582] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 583] Action: [Move to LEFT ARM]\n", + "[Step 583] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 584] Action: [Move to LEFT ARM]\n", + "[Step 584] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 585] Action: [Move to LEFT ARM]\n", + "[Step 585] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 586] Action: [Move to LEFT ARM]\n", + "[Step 586] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 587] Action: [Move to LEFT ARM]\n", + "[Step 587] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 588] Action: [Move to LEFT ARM]\n", + "[Step 588] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 589] Action: [Move to LEFT ARM]\n", + "[Step 589] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 590] Action: [Move to LEFT ARM]\n", + "[Step 590] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 591] Action: [Move to LEFT ARM]\n", + "[Step 591] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 592] Action: [Move to LEFT ARM]\n", + "[Step 592] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 593] Action: [Move to LEFT ARM]\n", + "[Step 593] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 594] Action: [Move to LEFT ARM]\n", + "[Step 594] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 595] Action: [Move to LEFT ARM]\n", + "[Step 595] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 596] Action: [Move to LEFT ARM]\n", + "[Step 596] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 597] Action: [Move to LEFT ARM]\n", + "[Step 597] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 598] Action: [Move to LEFT ARM]\n", + "[Step 598] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 599] Action: [Move to LEFT ARM]\n", + "[Step 599] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 600] Action: [Move to LEFT ARM]\n", + "[Step 600] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 601] Action: [Move to LEFT ARM]\n", + "[Step 601] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 602] Action: [Move to LEFT ARM]\n", + "[Step 602] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 603] Action: [Move to LEFT ARM]\n", + "[Step 603] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 604] Action: [Move to LEFT ARM]\n", + "[Step 604] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 605] Action: [Move to LEFT ARM]\n", + "[Step 605] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 606] Action: [Move to LEFT ARM]\n", + "[Step 606] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 607] Action: [Move to LEFT ARM]\n", + "[Step 607] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 608] Action: [Move to LEFT ARM]\n", + "[Step 608] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 609] Action: [Move to LEFT ARM]\n", + "[Step 609] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 610] Action: [Move to LEFT ARM]\n", + "[Step 610] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 611] Action: [Move to LEFT ARM]\n", + "[Step 611] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 612] Action: [Move to LEFT ARM]\n", + "[Step 612] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 613] Action: [Move to LEFT ARM]\n", + "[Step 613] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 614] Action: [Move to LEFT ARM]\n", + "[Step 614] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 615] Action: [Move to LEFT ARM]\n", + "[Step 615] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 616] Action: [Move to LEFT ARM]\n", + "[Step 616] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 617] Action: [Move to LEFT ARM]\n", + "[Step 617] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 618] Action: [Move to LEFT ARM]\n", + "[Step 618] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 619] Action: [Move to LEFT ARM]\n", + "[Step 619] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 620] Action: [Move to LEFT ARM]\n", + "[Step 620] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 621] Action: [Move to LEFT ARM]\n", + "[Step 621] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 622] Action: [Move to LEFT ARM]\n", + "[Step 622] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 623] Action: [Move to LEFT ARM]\n", + "[Step 623] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 624] Action: [Move to LEFT ARM]\n", + "[Step 624] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 625] Action: [Move to LEFT ARM]\n", + "[Step 625] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 626] Action: [Move to LEFT ARM]\n", + "[Step 626] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 627] Action: [Move to LEFT ARM]\n", + "[Step 627] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 628] Action: [Move to LEFT ARM]\n", + "[Step 628] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 629] Action: [Move to LEFT ARM]\n", + "[Step 629] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 630] Action: [Move to LEFT ARM]\n", + "[Step 630] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 631] Action: [Move to LEFT ARM]\n", + "[Step 631] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 632] Action: [Move to LEFT ARM]\n", + "[Step 632] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 633] Action: [Move to LEFT ARM]\n", + "[Step 633] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 634] Action: [Move to LEFT ARM]\n", + "[Step 634] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 635] Action: [Move to LEFT ARM]\n", + "[Step 635] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 636] Action: [Move to LEFT ARM]\n", + "[Step 636] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 637] Action: [Move to LEFT ARM]\n", + "[Step 637] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 638] Action: [Move to LEFT ARM]\n", + "[Step 638] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 639] Action: [Move to LEFT ARM]\n", + "[Step 639] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 640] Action: [Move to LEFT ARM]\n", + "[Step 640] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 641] Action: [Move to LEFT ARM]\n", + "[Step 641] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 642] Action: [Move to LEFT ARM]\n", + "[Step 642] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 643] Action: [Move to LEFT ARM]\n", + "[Step 643] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 644] Action: [Move to LEFT ARM]\n", + "[Step 644] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 645] Action: [Move to LEFT ARM]\n", + "[Step 645] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 646] Action: [Move to LEFT ARM]\n", + "[Step 646] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 647] Action: [Move to LEFT ARM]\n", + "[Step 647] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 648] Action: [Move to LEFT ARM]\n", + "[Step 648] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 649] Action: [Move to LEFT ARM]\n", + "[Step 649] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 650] Action: [Move to LEFT ARM]\n", + "[Step 650] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 651] Action: [Move to LEFT ARM]\n", + "[Step 651] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 652] Action: [Move to LEFT ARM]\n", + "[Step 652] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 653] Action: [Move to LEFT ARM]\n", + "[Step 653] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 654] Action: [Move to LEFT ARM]\n", + "[Step 654] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 655] Action: [Move to LEFT ARM]\n", + "[Step 655] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 656] Action: [Move to LEFT ARM]\n", + "[Step 656] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 657] Action: [Move to LEFT ARM]\n", + "[Step 657] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 658] Action: [Move to LEFT ARM]\n", + "[Step 658] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 659] Action: [Move to LEFT ARM]\n", + "[Step 659] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 660] Action: [Move to LEFT ARM]\n", + "[Step 660] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 661] Action: [Move to LEFT ARM]\n", + "[Step 661] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 662] Action: [Move to LEFT ARM]\n", + "[Step 662] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 663] Action: [Move to LEFT ARM]\n", + "[Step 663] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 664] Action: [Move to LEFT ARM]\n", + "[Step 664] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 665] Action: [Move to LEFT ARM]\n", + "[Step 665] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 666] Action: [Move to LEFT ARM]\n", + "[Step 666] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 667] Action: [Move to LEFT ARM]\n", + "[Step 667] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 668] Action: [Move to LEFT ARM]\n", + "[Step 668] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 669] Action: [Move to LEFT ARM]\n", + "[Step 669] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 670] Action: [Move to LEFT ARM]\n", + "[Step 670] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 671] Action: [Move to LEFT ARM]\n", + "[Step 671] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 672] Action: [Move to LEFT ARM]\n", + "[Step 672] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 673] Action: [Move to LEFT ARM]\n", + "[Step 673] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 674] Action: [Move to LEFT ARM]\n", + "[Step 674] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 675] Action: [Move to LEFT ARM]\n", + "[Step 675] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 676] Action: [Move to LEFT ARM]\n", + "[Step 676] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 677] Action: [Move to LEFT ARM]\n", + "[Step 677] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 678] Action: [Move to LEFT ARM]\n", + "[Step 678] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 679] Action: [Move to LEFT ARM]\n", + "[Step 679] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 680] Action: [Move to LEFT ARM]\n", + "[Step 680] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 681] Action: [Move to LEFT ARM]\n", + "[Step 681] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 682] Action: [Move to LEFT ARM]\n", + "[Step 682] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 683] Action: [Move to LEFT ARM]\n", + "[Step 683] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 684] Action: [Move to LEFT ARM]\n", + "[Step 684] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 685] Action: [Move to LEFT ARM]\n", + "[Step 685] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 686] Action: [Move to LEFT ARM]\n", + "[Step 686] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 687] Action: [Move to LEFT ARM]\n", + "[Step 687] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 688] Action: [Move to LEFT ARM]\n", + "[Step 688] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 689] Action: [Move to LEFT ARM]\n", + "[Step 689] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 690] Action: [Move to LEFT ARM]\n", + "[Step 690] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 691] Action: [Move to LEFT ARM]\n", + "[Step 691] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 692] Action: [Move to LEFT ARM]\n", + "[Step 692] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 693] Action: [Move to LEFT ARM]\n", + "[Step 693] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 694] Action: [Move to LEFT ARM]\n", + "[Step 694] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 695] Action: [Move to LEFT ARM]\n", + "[Step 695] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 696] Action: [Move to LEFT ARM]\n", + "[Step 696] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 697] Action: [Move to LEFT ARM]\n", + "[Step 697] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 698] Action: [Move to LEFT ARM]\n", + "[Step 698] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 699] Action: [Move to LEFT ARM]\n", + "[Step 699] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 700] Action: [Move to LEFT ARM]\n", + "[Step 700] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 701] Action: [Move to LEFT ARM]\n", + "[Step 701] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 702] Action: [Move to LEFT ARM]\n", + "[Step 702] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 703] Action: [Move to LEFT ARM]\n", + "[Step 703] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 704] Action: [Move to LEFT ARM]\n", + "[Step 704] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 705] Action: [Move to LEFT ARM]\n", + "[Step 705] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 706] Action: [Move to LEFT ARM]\n", + "[Step 706] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 707] Action: [Move to LEFT ARM]\n", + "[Step 707] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 708] Action: [Move to LEFT ARM]\n", + "[Step 708] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 709] Action: [Move to LEFT ARM]\n", + "[Step 709] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 710] Action: [Move to LEFT ARM]\n", + "[Step 710] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 711] Action: [Move to LEFT ARM]\n", + "[Step 711] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 712] Action: [Move to LEFT ARM]\n", + "[Step 712] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 713] Action: [Move to LEFT ARM]\n", + "[Step 713] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 714] Action: [Move to LEFT ARM]\n", + "[Step 714] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 715] Action: [Move to LEFT ARM]\n", + "[Step 715] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 716] Action: [Move to LEFT ARM]\n", + "[Step 716] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 717] Action: [Move to LEFT ARM]\n", + "[Step 717] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 718] Action: [Move to LEFT ARM]\n", + "[Step 718] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 719] Action: [Move to LEFT ARM]\n", + "[Step 719] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 720] Action: [Move to LEFT ARM]\n", + "[Step 720] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 721] Action: [Move to LEFT ARM]\n", + "[Step 721] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 722] Action: [Move to LEFT ARM]\n", + "[Step 722] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 723] Action: [Move to LEFT ARM]\n", + "[Step 723] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 724] Action: [Move to LEFT ARM]\n", + "[Step 724] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 725] Action: [Move to LEFT ARM]\n", + "[Step 725] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 726] Action: [Move to LEFT ARM]\n", + "[Step 726] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 727] Action: [Move to LEFT ARM]\n", + "[Step 727] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 728] Action: [Move to LEFT ARM]\n", + "[Step 728] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 729] Action: [Move to LEFT ARM]\n", + "[Step 729] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 730] Action: [Move to LEFT ARM]\n", + "[Step 730] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 731] Action: [Move to LEFT ARM]\n", + "[Step 731] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 732] Action: [Move to LEFT ARM]\n", + "[Step 732] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 733] Action: [Move to LEFT ARM]\n", + "[Step 733] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 734] Action: [Move to LEFT ARM]\n", + "[Step 734] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 735] Action: [Move to LEFT ARM]\n", + "[Step 735] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 736] Action: [Move to LEFT ARM]\n", + "[Step 736] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 737] Action: [Move to LEFT ARM]\n", + "[Step 737] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 738] Action: [Move to LEFT ARM]\n", + "[Step 738] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 739] Action: [Move to LEFT ARM]\n", + "[Step 739] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 740] Action: [Move to LEFT ARM]\n", + "[Step 740] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 741] Action: [Move to LEFT ARM]\n", + "[Step 741] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 742] Action: [Move to LEFT ARM]\n", + "[Step 742] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 743] Action: [Move to LEFT ARM]\n", + "[Step 743] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 744] Action: [Move to LEFT ARM]\n", + "[Step 744] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 745] Action: [Move to LEFT ARM]\n", + "[Step 745] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 746] Action: [Move to LEFT ARM]\n", + "[Step 746] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 747] Action: [Move to LEFT ARM]\n", + "[Step 747] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 748] Action: [Move to LEFT ARM]\n", + "[Step 748] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 749] Action: [Move to LEFT ARM]\n", + "[Step 749] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 750] Action: [Move to LEFT ARM]\n", + "[Step 750] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 751] Action: [Move to LEFT ARM]\n", + "[Step 751] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 752] Action: [Move to LEFT ARM]\n", + "[Step 752] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 753] Action: [Move to LEFT ARM]\n", + "[Step 753] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 754] Action: [Move to LEFT ARM]\n", + "[Step 754] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 755] Action: [Move to LEFT ARM]\n", + "[Step 755] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 756] Action: [Move to LEFT ARM]\n", + "[Step 756] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 757] Action: [Move to LEFT ARM]\n", + "[Step 757] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 758] Action: [Move to LEFT ARM]\n", + "[Step 758] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 759] Action: [Move to LEFT ARM]\n", + "[Step 759] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 760] Action: [Move to LEFT ARM]\n", + "[Step 760] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 761] Action: [Move to LEFT ARM]\n", + "[Step 761] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 762] Action: [Move to LEFT ARM]\n", + "[Step 762] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 763] Action: [Move to LEFT ARM]\n", + "[Step 763] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 764] Action: [Move to LEFT ARM]\n", + "[Step 764] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 765] Action: [Move to LEFT ARM]\n", + "[Step 765] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 766] Action: [Move to LEFT ARM]\n", + "[Step 766] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 767] Action: [Move to LEFT ARM]\n", + "[Step 767] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 768] Action: [Move to LEFT ARM]\n", + "[Step 768] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 769] Action: [Move to LEFT ARM]\n", + "[Step 769] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 770] Action: [Move to LEFT ARM]\n", + "[Step 770] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 771] Action: [Move to LEFT ARM]\n", + "[Step 771] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 772] Action: [Move to LEFT ARM]\n", + "[Step 772] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 773] Action: [Move to LEFT ARM]\n", + "[Step 773] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 774] Action: [Move to LEFT ARM]\n", + "[Step 774] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 775] Action: [Move to LEFT ARM]\n", + "[Step 775] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 776] Action: [Move to LEFT ARM]\n", + "[Step 776] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 777] Action: [Move to LEFT ARM]\n", + "[Step 777] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 778] Action: [Move to LEFT ARM]\n", + "[Step 778] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 779] Action: [Move to LEFT ARM]\n", + "[Step 779] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 780] Action: [Move to LEFT ARM]\n", + "[Step 780] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 781] Action: [Move to LEFT ARM]\n", + "[Step 781] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 782] Action: [Move to LEFT ARM]\n", + "[Step 782] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 783] Action: [Move to LEFT ARM]\n", + "[Step 783] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 784] Action: [Move to LEFT ARM]\n", + "[Step 784] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 785] Action: [Move to LEFT ARM]\n", + "[Step 785] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 786] Action: [Move to LEFT ARM]\n", + "[Step 786] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 787] Action: [Move to LEFT ARM]\n", + "[Step 787] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 788] Action: [Move to LEFT ARM]\n", + "[Step 788] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 789] Action: [Move to LEFT ARM]\n", + "[Step 789] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 790] Action: [Move to LEFT ARM]\n", + "[Step 790] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 791] Action: [Move to LEFT ARM]\n", + "[Step 791] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 792] Action: [Move to LEFT ARM]\n", + "[Step 792] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 793] Action: [Move to LEFT ARM]\n", + "[Step 793] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 794] Action: [Move to LEFT ARM]\n", + "[Step 794] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 795] Action: [Move to LEFT ARM]\n", + "[Step 795] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 796] Action: [Move to LEFT ARM]\n", + "[Step 796] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 797] Action: [Move to LEFT ARM]\n", + "[Step 797] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 798] Action: [Move to LEFT ARM]\n", + "[Step 798] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 799] Action: [Move to LEFT ARM]\n", + "[Step 799] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 800] Action: [Move to LEFT ARM]\n", + "[Step 800] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 801] Action: [Move to LEFT ARM]\n", + "[Step 801] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 802] Action: [Move to LEFT ARM]\n", + "[Step 802] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 803] Action: [Move to LEFT ARM]\n", + "[Step 803] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 804] Action: [Move to LEFT ARM]\n", + "[Step 804] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 805] Action: [Move to LEFT ARM]\n", + "[Step 805] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 806] Action: [Move to LEFT ARM]\n", + "[Step 806] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 807] Action: [Move to LEFT ARM]\n", + "[Step 807] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 808] Action: [Move to LEFT ARM]\n", + "[Step 808] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 809] Action: [Move to LEFT ARM]\n", + "[Step 809] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 810] Action: [Move to LEFT ARM]\n", + "[Step 810] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 811] Action: [Move to LEFT ARM]\n", + "[Step 811] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 812] Action: [Move to LEFT ARM]\n", + "[Step 812] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 813] Action: [Move to LEFT ARM]\n", + "[Step 813] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 814] Action: [Move to LEFT ARM]\n", + "[Step 814] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 815] Action: [Move to LEFT ARM]\n", + "[Step 815] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 816] Action: [Move to LEFT ARM]\n", + "[Step 816] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 817] Action: [Move to LEFT ARM]\n", + "[Step 817] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 818] Action: [Move to LEFT ARM]\n", + "[Step 818] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 819] Action: [Move to LEFT ARM]\n", + "[Step 819] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 820] Action: [Move to LEFT ARM]\n", + "[Step 820] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 821] Action: [Move to LEFT ARM]\n", + "[Step 821] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 822] Action: [Move to LEFT ARM]\n", + "[Step 822] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 823] Action: [Move to LEFT ARM]\n", + "[Step 823] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 824] Action: [Move to LEFT ARM]\n", + "[Step 824] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 825] Action: [Move to LEFT ARM]\n", + "[Step 825] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 826] Action: [Move to LEFT ARM]\n", + "[Step 826] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 827] Action: [Move to LEFT ARM]\n", + "[Step 827] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 828] Action: [Move to LEFT ARM]\n", + "[Step 828] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 829] Action: [Move to LEFT ARM]\n", + "[Step 829] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 830] Action: [Move to LEFT ARM]\n", + "[Step 830] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 831] Action: [Move to LEFT ARM]\n", + "[Step 831] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 832] Action: [Move to LEFT ARM]\n", + "[Step 832] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 833] Action: [Move to LEFT ARM]\n", + "[Step 833] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 834] Action: [Move to LEFT ARM]\n", + "[Step 834] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 835] Action: [Move to LEFT ARM]\n", + "[Step 835] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 836] Action: [Move to LEFT ARM]\n", + "[Step 836] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 837] Action: [Move to LEFT ARM]\n", + "[Step 837] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 838] Action: [Move to LEFT ARM]\n", + "[Step 838] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 839] Action: [Move to LEFT ARM]\n", + "[Step 839] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 840] Action: [Move to LEFT ARM]\n", + "[Step 840] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 841] Action: [Move to LEFT ARM]\n", + "[Step 841] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 842] Action: [Move to LEFT ARM]\n", + "[Step 842] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 843] Action: [Move to LEFT ARM]\n", + "[Step 843] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 844] Action: [Move to LEFT ARM]\n", + "[Step 844] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 845] Action: [Move to LEFT ARM]\n", + "[Step 845] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 846] Action: [Move to LEFT ARM]\n", + "[Step 846] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 847] Action: [Move to LEFT ARM]\n", + "[Step 847] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 848] Action: [Move to LEFT ARM]\n", + "[Step 848] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 849] Action: [Move to LEFT ARM]\n", + "[Step 849] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 850] Action: [Move to LEFT ARM]\n", + "[Step 850] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 851] Action: [Move to LEFT ARM]\n", + "[Step 851] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 852] Action: [Move to LEFT ARM]\n", + "[Step 852] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 853] Action: [Move to LEFT ARM]\n", + "[Step 853] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 854] Action: [Move to LEFT ARM]\n", + "[Step 854] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 855] Action: [Move to LEFT ARM]\n", + "[Step 855] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 856] Action: [Move to LEFT ARM]\n", + "[Step 856] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 857] Action: [Move to LEFT ARM]\n", + "[Step 857] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 858] Action: [Move to LEFT ARM]\n", + "[Step 858] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 859] Action: [Move to LEFT ARM]\n", + "[Step 859] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 860] Action: [Move to LEFT ARM]\n", + "[Step 860] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 861] Action: [Move to LEFT ARM]\n", + "[Step 861] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 862] Action: [Move to LEFT ARM]\n", + "[Step 862] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 863] Action: [Move to LEFT ARM]\n", + "[Step 863] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 864] Action: [Move to LEFT ARM]\n", + "[Step 864] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 865] Action: [Move to LEFT ARM]\n", + "[Step 865] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 866] Action: [Move to LEFT ARM]\n", + "[Step 866] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 867] Action: [Move to LEFT ARM]\n", + "[Step 867] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 868] Action: [Move to LEFT ARM]\n", + "[Step 868] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 869] Action: [Move to LEFT ARM]\n", + "[Step 869] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 870] Action: [Move to LEFT ARM]\n", + "[Step 870] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 871] Action: [Move to LEFT ARM]\n", + "[Step 871] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 872] Action: [Move to LEFT ARM]\n", + "[Step 872] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 873] Action: [Move to LEFT ARM]\n", + "[Step 873] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 874] Action: [Move to LEFT ARM]\n", + "[Step 874] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 875] Action: [Move to LEFT ARM]\n", + "[Step 875] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 876] Action: [Move to LEFT ARM]\n", + "[Step 876] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 877] Action: [Move to LEFT ARM]\n", + "[Step 877] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 878] Action: [Move to LEFT ARM]\n", + "[Step 878] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 879] Action: [Move to LEFT ARM]\n", + "[Step 879] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 880] Action: [Move to LEFT ARM]\n", + "[Step 880] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 881] Action: [Move to LEFT ARM]\n", + "[Step 881] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 882] Action: [Move to LEFT ARM]\n", + "[Step 882] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 883] Action: [Move to LEFT ARM]\n", + "[Step 883] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 884] Action: [Move to LEFT ARM]\n", + "[Step 884] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 885] Action: [Move to LEFT ARM]\n", + "[Step 885] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 886] Action: [Move to LEFT ARM]\n", + "[Step 886] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 887] Action: [Move to LEFT ARM]\n", + "[Step 887] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 888] Action: [Move to LEFT ARM]\n", + "[Step 888] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 889] Action: [Move to LEFT ARM]\n", + "[Step 889] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 890] Action: [Move to LEFT ARM]\n", + "[Step 890] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 891] Action: [Move to LEFT ARM]\n", + "[Step 891] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 892] Action: [Move to LEFT ARM]\n", + "[Step 892] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 893] Action: [Move to LEFT ARM]\n", + "[Step 893] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 894] Action: [Move to LEFT ARM]\n", + "[Step 894] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 895] Action: [Move to LEFT ARM]\n", + "[Step 895] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 896] Action: [Move to LEFT ARM]\n", + "[Step 896] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 897] Action: [Move to LEFT ARM]\n", + "[Step 897] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 898] Action: [Move to LEFT ARM]\n", + "[Step 898] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 899] Action: [Move to LEFT ARM]\n", + "[Step 899] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 900] Action: [Move to LEFT ARM]\n", + "[Step 900] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 901] Action: [Move to LEFT ARM]\n", + "[Step 901] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 902] Action: [Move to LEFT ARM]\n", + "[Step 902] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 903] Action: [Move to LEFT ARM]\n", + "[Step 903] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 904] Action: [Move to LEFT ARM]\n", + "[Step 904] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 905] Action: [Move to LEFT ARM]\n", + "[Step 905] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 906] Action: [Move to LEFT ARM]\n", + "[Step 906] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 907] Action: [Move to LEFT ARM]\n", + "[Step 907] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 908] Action: [Move to LEFT ARM]\n", + "[Step 908] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 909] Action: [Move to LEFT ARM]\n", + "[Step 909] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 910] Action: [Move to LEFT ARM]\n", + "[Step 910] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 911] Action: [Move to LEFT ARM]\n", + "[Step 911] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 912] Action: [Move to LEFT ARM]\n", + "[Step 912] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 913] Action: [Move to LEFT ARM]\n", + "[Step 913] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 914] Action: [Move to LEFT ARM]\n", + "[Step 914] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 915] Action: [Move to LEFT ARM]\n", + "[Step 915] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 916] Action: [Move to LEFT ARM]\n", + "[Step 916] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 917] Action: [Move to LEFT ARM]\n", + "[Step 917] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 918] Action: [Move to LEFT ARM]\n", + "[Step 918] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 919] Action: [Move to LEFT ARM]\n", + "[Step 919] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 920] Action: [Move to LEFT ARM]\n", + "[Step 920] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 921] Action: [Move to LEFT ARM]\n", + "[Step 921] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 922] Action: [Move to LEFT ARM]\n", + "[Step 922] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 923] Action: [Move to LEFT ARM]\n", + "[Step 923] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 924] Action: [Move to LEFT ARM]\n", + "[Step 924] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 925] Action: [Move to LEFT ARM]\n", + "[Step 925] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 926] Action: [Move to LEFT ARM]\n", + "[Step 926] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 927] Action: [Move to LEFT ARM]\n", + "[Step 927] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 928] Action: [Move to LEFT ARM]\n", + "[Step 928] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 929] Action: [Move to LEFT ARM]\n", + "[Step 929] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 930] Action: [Move to LEFT ARM]\n", + "[Step 930] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 931] Action: [Move to LEFT ARM]\n", + "[Step 931] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 932] Action: [Move to LEFT ARM]\n", + "[Step 932] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 933] Action: [Move to LEFT ARM]\n", + "[Step 933] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 934] Action: [Move to LEFT ARM]\n", + "[Step 934] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 935] Action: [Move to LEFT ARM]\n", + "[Step 935] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 936] Action: [Move to LEFT ARM]\n", + "[Step 936] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 937] Action: [Move to LEFT ARM]\n", + "[Step 937] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 938] Action: [Move to LEFT ARM]\n", + "[Step 938] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 939] Action: [Move to LEFT ARM]\n", + "[Step 939] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 940] Action: [Move to LEFT ARM]\n", + "[Step 940] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 941] Action: [Move to LEFT ARM]\n", + "[Step 941] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 942] Action: [Move to LEFT ARM]\n", + "[Step 942] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 943] Action: [Move to LEFT ARM]\n", + "[Step 943] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 944] Action: [Move to LEFT ARM]\n", + "[Step 944] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 945] Action: [Move to LEFT ARM]\n", + "[Step 945] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 946] Action: [Move to LEFT ARM]\n", + "[Step 946] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 947] Action: [Move to LEFT ARM]\n", + "[Step 947] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 948] Action: [Move to LEFT ARM]\n", + "[Step 948] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 949] Action: [Move to LEFT ARM]\n", + "[Step 949] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 950] Action: [Move to LEFT ARM]\n", + "[Step 950] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 951] Action: [Move to LEFT ARM]\n", + "[Step 951] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 952] Action: [Move to LEFT ARM]\n", + "[Step 952] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 953] Action: [Move to LEFT ARM]\n", + "[Step 953] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 954] Action: [Move to LEFT ARM]\n", + "[Step 954] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 955] Action: [Move to LEFT ARM]\n", + "[Step 955] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 956] Action: [Move to LEFT ARM]\n", + "[Step 956] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 957] Action: [Move to LEFT ARM]\n", + "[Step 957] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 958] Action: [Move to LEFT ARM]\n", + "[Step 958] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 959] Action: [Move to LEFT ARM]\n", + "[Step 959] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 960] Action: [Move to LEFT ARM]\n", + "[Step 960] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 961] Action: [Move to LEFT ARM]\n", + "[Step 961] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 962] Action: [Move to LEFT ARM]\n", + "[Step 962] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 963] Action: [Move to LEFT ARM]\n", + "[Step 963] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 964] Action: [Move to LEFT ARM]\n", + "[Step 964] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 965] Action: [Move to LEFT ARM]\n", + "[Step 965] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 966] Action: [Move to LEFT ARM]\n", + "[Step 966] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 967] Action: [Move to LEFT ARM]\n", + "[Step 967] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 968] Action: [Move to LEFT ARM]\n", + "[Step 968] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 969] Action: [Move to LEFT ARM]\n", + "[Step 969] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 970] Action: [Move to LEFT ARM]\n", + "[Step 970] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 971] Action: [Move to LEFT ARM]\n", + "[Step 971] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 972] Action: [Move to LEFT ARM]\n", + "[Step 972] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 973] Action: [Move to LEFT ARM]\n", + "[Step 973] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 974] Action: [Move to LEFT ARM]\n", + "[Step 974] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 975] Action: [Move to LEFT ARM]\n", + "[Step 975] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 976] Action: [Move to LEFT ARM]\n", + "[Step 976] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 977] Action: [Move to LEFT ARM]\n", + "[Step 977] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 978] Action: [Move to LEFT ARM]\n", + "[Step 978] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 979] Action: [Move to LEFT ARM]\n", + "[Step 979] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 980] Action: [Move to LEFT ARM]\n", + "[Step 980] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 981] Action: [Move to LEFT ARM]\n", + "[Step 981] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 982] Action: [Move to LEFT ARM]\n", + "[Step 982] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 983] Action: [Move to LEFT ARM]\n", + "[Step 983] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 984] Action: [Move to LEFT ARM]\n", + "[Step 984] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 985] Action: [Move to LEFT ARM]\n", + "[Step 985] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 986] Action: [Move to LEFT ARM]\n", + "[Step 986] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 987] Action: [Move to LEFT ARM]\n", + "[Step 987] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 988] Action: [Move to LEFT ARM]\n", + "[Step 988] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 989] Action: [Move to LEFT ARM]\n", + "[Step 989] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 990] Action: [Move to LEFT ARM]\n", + "[Step 990] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 991] Action: [Move to LEFT ARM]\n", + "[Step 991] Observation: [LEFT ARM, Loss!, Null]\n", + "[Step 992] Action: [Move to LEFT ARM]\n", + "[Step 992] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 993] Action: [Move to LEFT ARM]\n", + "[Step 993] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 994] Action: [Move to LEFT ARM]\n", + "[Step 994] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 995] Action: [Move to LEFT ARM]\n", + "[Step 995] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 996] Action: [Move to LEFT ARM]\n", + "[Step 996] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 997] Action: [Move to LEFT ARM]\n", + "[Step 997] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 998] Action: [Move to LEFT ARM]\n", + "[Step 998] Observation: [LEFT ARM, Reward!, Null]\n", + "[Step 999] Action: [Move to LEFT ARM]\n", + "[Step 999] Observation: [LEFT ARM, Reward!, Null]\n" + ] + } + ], "source": [ "T = 1000 # number of timesteps\n", "\n", @@ -220,24 +2267,98 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 13, "metadata": { "scrolled": true }, - "outputs": [], + "outputs": [ + { + "data": { + "image/png": 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", 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", 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", 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", 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], "source": [ "plot_likelihood(agent.A[1][1:,:,0],'Final beliefs about reward contingencies under the condition that the reward condition is RIGHT ARM BETTER')\n", "plot_likelihood(A_gp[1][1:,:,0],'True reward contingencies under the condition that the reward condition is RIGHT ARM BETTER')\n", "\n", "plot_likelihood(agent.A[1][1:,:,1],'Final beliefs about reward contingencies under the condition that the reward condition is LEFT ARM BETTER')\n", - "plot_likelihood(A_gp[1][1:,:,0],'True reward contingencies under the condition that the reward condition is LEFT ARM BETTER')\n" + "plot_likelihood(A_gp[1][1:,:,1],'True reward contingencies under the condition that the reward condition is LEFT ARM BETTER')\n" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 14, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "image/png": 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", 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+ "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], "source": [ "plot_likelihood(agent.A[2][1:,:,1],'Final beliefs about cue mapping')\n", "plot_likelihood(A_gp[2][1:,:,1],'True contingencies underlying the cue mapping')" diff --git a/pymdp/agent.py b/pymdp/agent.py index 5b945649..a9ed6f3e 100644 --- a/pymdp/agent.py +++ b/pymdp/agent.py @@ -24,6 +24,7 @@ def __init__( B, C=None, D=None, + E = None, pA=None, pB = None, pD = None, @@ -76,7 +77,7 @@ def __init__( assert utils.is_normalized(self.A), "A matrix is not normalized (i.e. A.sum(axis = 0) must all equal 1.0" - # Determine number of modalities and their dimensionaliti + """ Determine number of observation modalities and their respective dimensions """ self.num_obs = [self.A[m].shape[0] for m in range(len(self.A))] self.num_modalities = len(self.num_obs) @@ -130,6 +131,7 @@ def __init__( assert all([n_c == max_action for (n_c, max_action) in zip(self.num_controls, list(np.max(all_policies, axis =0)+1))]), "Maximum number of actions is not consistent with `num_controls`" """ Construct prior preferences (uniform if not specified) """ + if C is not None: if not isinstance(C, np.ndarray): raise TypeError( @@ -144,7 +146,7 @@ def __init__( else: self.C = self._construct_C_prior() - # Construct initial beliefs (uniform if not specified) + """ Construct prior over hidden states (uniform if not specified) """ if D is not None: if not isinstance(D, np.ndarray): @@ -168,6 +170,20 @@ def __init__( """ Assigning prior parameters on initial hidden states (pD vectors) """ self.pD = pD + """ Construct prior over policies (uniform if not specified) """ + + if E is not None: + if not isinstance(E, np.ndarray): + raise TypeError( + 'E vector must be a numpy array' + ) + self.E = E + + assert len(self.E) == len(self.policies), f"Check E vector: length of E must be equal to number of policies: {len(self.policies)}" + + else: + self.E = self._construct_E_prior() + self.edge_handling_params = {} self.edge_handling_params['use_BMA'] = use_BMA # creates a 'D-like' moving prior self.edge_handling_params['policy_sep_prior'] = policy_sep_prior # carries forward last timesteps posterior, in a policy-conditioned way @@ -233,6 +249,10 @@ def _construct_num_controls(self): ) return num_controls + + def _construct_E_prior(self): + E = np.ones(len(self.policies)) / len(self.policies) + return E def reset(self, init_qs=None): @@ -440,7 +460,8 @@ def infer_policies(self): self.use_param_info_gain, self.pA, self.pB, - self.gamma + E = self.E, + gamma = self.gamma ) elif self.inference_algo == "MMP": @@ -458,8 +479,8 @@ def infer_policies(self): self.latest_belief, self.pA, self.pB, - self.F, - E = None, + F = self.F, + E = self.E, gamma = self.gamma ) diff --git a/pymdp/control.py b/pymdp/control.py index 354b5a27..307e72de 100644 --- a/pymdp/control.py +++ b/pymdp/control.py @@ -63,9 +63,13 @@ def update_posterior_policies_mmp( efe = np.zeros(num_policies) if F is None: - F = np.zeros(num_policies) + F = spm_log_single(np.ones(num_policies) / num_policies) + if E is None: - E = np.zeros(num_policies) + lnE = spm_log_single(np.ones(num_policies) / num_policies) + else: + lnE = spm_log_single(E) + for p_idx, policy in enumerate(policies): @@ -83,9 +87,8 @@ def update_posterior_policies_mmp( if pB is not None: efe[p_idx] += calc_pB_info_gain(pB, qs_seq_pi[p_idx], prior, policy) - - q_pi = softmax(efe * gamma - F + E) - + q_pi = softmax(efe * gamma - F + lnE) + return q_pi, efe @@ -151,7 +154,9 @@ def update_posterior_policies( q_pi = np.zeros((n_policies, 1)) if E is None: - E = np.zeros(n_policies) + lnE = spm_log_single(np.ones(n_policies) / n_policies) + else: + lnE = spm_log_single(E) for idx, policy in enumerate(policies): qs_pi = get_expected_states(qs, B, policy) @@ -169,7 +174,7 @@ def update_posterior_policies( if pB is not None: efe[idx] += calc_pB_info_gain(pB, qs_pi, qs, policy) - q_pi = softmax(efe * gamma + E) + q_pi = softmax(efe * gamma + lnE) return q_pi, efe diff --git a/test/test_agent.py b/test/test_agent.py index 50d16658..072c10ac 100644 --- a/test/test_agent.py +++ b/test/test_agent.py @@ -359,10 +359,6 @@ def test_agent_with_D_learning_MMP(self): self.assertTrue(np.allclose(pD_test[factor], pD_validation[factor])) - - - - if __name__ == "__main__": diff --git a/test/test_control.py b/test/test_control.py index 5a4dd413..f0f24099 100644 --- a/test/test_control.py +++ b/test/test_control.py @@ -1313,6 +1313,47 @@ def test_sample_action(self): chosen_action = control.sample_action(q_pi, policies, num_controls, action_selection="deterministic") self.assertEqual(int(chosen_action[0]), 1) + + def test_update_posterior_policies_withE_vector(self): + """ + Test update posterior policies in the case that there is a prior over policies + """ + + """ Construct an explicit example where policy 0 is preferred based on utility, + but action 2 also gets a bump in probability because of prior over policies + """ + num_obs = [3] + num_states = [3] + num_controls = [3] + + qs = utils.to_arr_of_arr(utils.onehot(0, num_states[0])) + A = utils.to_arr_of_arr(np.eye(num_obs[0])) + B = utils.construct_controllable_B(num_states, num_controls) + + C = utils.to_arr_of_arr(np.array([1.5, 1.0, 1.0])) + + D = utils.to_arr_of_arr(utils.onehot(0, num_states[0])) + E = np.array([0.05, 0.05, 0.9]) + + policies = control.construct_policies(num_states, num_controls, policy_len=1) + + q_pi, efe = control.update_posterior_policies( + qs, + A, + B, + C, + policies, + use_utility = True, + use_states_info_gain = False, + use_param_info_gain = False, + pA=None, + pB=None, + E = E, + gamma=16.0 + ) + + self.assertGreater(q_pi[0], q_pi[1]) + self.assertGreater(q_pi[2], q_pi[1]) if __name__ == "__main__":