Research Article
Ubiquitous Robotic Technology for Smart Manufacturing System
Algorithm 4
Hierarchical option causal abstraction.
() RMDP , compute the causal graph CG using Algorithm 1 | () combine the SCC of CG, obtain the task hierarchy | () convert the primitive actions to options, add them to | () for each layer | () calculate ACO set and ABO set using Algorithm 2 | () for each | () induce a sub-problem | () solve using Algorithm 3, obtain the policy | () endfor | () endfor | () divide G from high layer to low layer | () for each , solve using Algorithm 3, obtain the policy | () the policy is a sequence |
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