'Update belief' presentation slideshows

Problem size : |S|=576, |A|=19, |O|=18 Action hierarchy :

r t-1 r t ... s t-1 s t ... World state: o t-1 o t a t-1 ?? Control layer: ... b t-1 ?? ... Robot belief: Belief state OBSERVATIONS STATE USER + WORLD + ROBOT ACTIONS subtask Patient room Act abstract action Move InvestigateHealth Navigate AskWhere CheckPulse

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