// 3legs4 pomdp spec
// author: Pascal Poupart
// for descriptions of this model please see the relevant publications
//
// VDCBPI: an Approximate Scalable Algorithm for Large Scale POMDPs
// Pascal Poupart and Craig Boutilier
// In Advances in Neural Information Processing Systems 17 (NIPS), pages 1081-1088, Vancouver, BC, 2004

// Exploiting Structure to Efficiently Solve Large Scale Partially Observable Markov Decision Processes
// Pascal Poupart
// Ph.D. thesis, Department of Computer Science, University of Toronto, Toronto, 2005
//
// This code is to be used for research purposes only, is distributed "as is" with no guarantees.  Please inform the authors of any uses of this problem specification.

(variables
    (m1 down up)
    (m2 down up)
    (m3 down up)
    (m4 down up)
)

(observations
    (status oDown oUp)
)

init (m4 (down (0.0))
         (up (m3 (down (0.0))
                 (up (m2 (down (0.0))
                         (up (m1 (down (0.0))
                                 (up (1.0)))))))))

unnormalised

action reboot_m1
    m1 (m1' (down (0.05))
            (up (0.95)))
    m2 (m2' (down (m2 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m2 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m3 (m3' (down (m3 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m3 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m4 (m4' (down (m4 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m4 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    observe
        status (status' (oDown (1.0))
                        (oUp (0.0)))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))
            (2.5)]
endaction

action reboot_m2
    m1 (m1' (down (m1 (down (0.99))
                      (up (0.1))))
            (up (m1 (down (0.01))
                    (up (0.9)))))
    m2 (m2' (down (0.05))
            (up (0.95)))
    m3 (m3' (down (m3 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m3 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m4 (m4' (down (m4 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m4 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    observe
        status (status' (oDown (1.0))
                        (oUp (0.0)))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))
            (2.5)]
endaction

action reboot_m3
    m1 (m1' (down (m1 (down (0.99))
                      (up (0.1))))
            (up (m1 (down (0.01))
                    (up (0.9)))))
    m2 (m2' (down (m2 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m2 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m3 (m3' (down (0.05))
            (up (0.95)))
    m4 (m4' (down (m4 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m4 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    observe
        status (status' (oDown (1.0))
                        (oUp (0.0)))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))
            (2.5)]
endaction

action reboot_m4
    m1 (m1' (down (m1 (down (0.99))
                      (up (0.1))))
            (up (m1 (down (0.01))
                    (up (0.9)))))
    m2 (m2' (down (m2 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m2 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m3 (m3' (down (m3 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m3 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m4 (m4' (down (0.05))
            (up (0.95)))
    observe
        status (status' (oDown (1.0))
                        (oUp (0.0)))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))
            (2.5)]
endaction

action ping_m1
    m1 (m1' (down (m1 (down (0.99))
                      (up (0.1))))
            (up (m1 (down (0.01))
                    (up (0.9)))))
    m2 (m2' (down (m2 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m2 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m3 (m3' (down (m3 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m3 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m4 (m4' (down (m4 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m4 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    observe
        status (status' (oDown (m1' (down (0.95))
                                    (up (0.05))))
                        (oUp (m1' (down (0.05))
                                  (up (0.95)))))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))
            (0.1)]
endaction

action ping_m2
    m1 (m1' (down (m1 (down (0.99))
                      (up (0.1))))
            (up (m1 (down (0.01))
                    (up (0.9)))))
    m2 (m2' (down (m2 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m2 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m3 (m3' (down (m3 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m3 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m4 (m4' (down (m4 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m4 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    observe
        status (status' (oDown (m2' (down (0.95))
                                    (up (0.05))))
                        (oUp (m2' (down (0.05))
                                  (up (0.95)))))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))
            (0.1)]
endaction

action ping_m3
    m1 (m1' (down (m1 (down (0.99))
                      (up (0.1))))
            (up (m1 (down (0.01))
                    (up (0.9)))))
    m2 (m2' (down (m2 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m2 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m3 (m3' (down (m3 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m3 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m4 (m4' (down (m4 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m4 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    observe
        status (status' (oDown (m3' (down (0.95))
                                    (up (0.05))))
                        (oUp (m3' (down (0.05))
                                  (up (0.95)))))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))
            (0.1)]
endaction

action ping_m4
    m1 (m1' (down (m1 (down (0.99))
                      (up (0.1))))
            (up (m1 (down (0.01))
                    (up (0.9)))))
    m2 (m2' (down (m2 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m2 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m3 (m3' (down (m3 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m3 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m4 (m4' (down (m4 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m4 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    observe
        status (status' (oDown (m4' (down (0.95))
                                    (up (0.05))))
                        (oUp (m4' (down (0.05))
                                  (up (0.95)))))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))
            (0.1)]
endaction

action doNothing
    m1 (m1' (down (m1 (down (0.99))
                      (up (0.1))))
            (up (m1 (down (0.01))
                    (up (0.9)))))
    m2 (m2' (down (m2 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m2 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m3 (m3' (down (m3 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m3 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    m4 (m4' (down (m4 (down (0.99))
                      (up (m1 (down (0.333))
                              (up (0.1))))))
            (up (m4 (down (0.01))
                    (up (m1 (down (0.667))
                            (up (0.9)))))))
    observe
        status (status' (oDown (1.0))
                        (oUp (0.0)))
    endobserve
    cost [+ (m1 (down (-0.0))
                (up (-2.0)))
            (m2 (down (-0.0))
                (up (-1.0)))
            (m3 (down (-0.0))
                (up (-1.0)))
            (m4 (down (-0.0))
                (up (-1.0)))]
endaction

discount 0.950000

tolerance 0.001500