A Decentralized Partially Observable Markov Decision Model with Action Duration for Goal Recognition in Real Time Strategy Games

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Trace Number</td><td class="align_center">Durations</td><td class="align_center">Targets</td><td class="align_center">Goal interrupted</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left" rowspan="2">1</td><td class="align_center"><span style="width: 51.6508ptpx;"><svg height="11.439pt" id="M263" style="vertical-align:-2.39208pt" version="1.1" viewbox="-0.0498162 -9.04692 51.6508 11.439" width="51.6508pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341" xpluscharwidth="4.433"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,8.065,0)"><path d="M448 1V51H364C248 51 153 129 140 230H448V280H140C153 381 248 459 364 459H448V509H365C208 509 80 395 80 255S208 1 365 1H448Z" id="g117-173"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="528" vert-adv-y="528" xpluscharwidth="14.928999999999998"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,18.561,.241)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345" xpluscharwidth="23.046"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,23.063,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="29.302999999999997"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,29.303,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="228" vert-adv-y="228" xpluscharwidth="32.267"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,34.446,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="40.686"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,40.686,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="46.926"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,47.007,.241)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345" xpluscharwidth="51.492"></glyph.data></g></svg></span></td><td class="align_center">Prey B</td><td class="align_center">Yes</td></tr><tr><td class="align_center"><span style="width: 57.9142ptpx;"><svg height="11.439pt" id="M264" style="vertical-align:-2.39208pt" version="1.1" viewbox="-0.0498162 -9.04692 57.9142 11.439" width="57.9142pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341" xpluscharwidth="4.433"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,8.065,0)"><path d="M448 1V51H364C248 51 153 129 140 230H448V280H140C153 381 248 459 364 459H448V509H365C208 509 80 395 80 255S208 1 365 1H448Z" id="g117-173"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="528" vert-adv-y="528" xpluscharwidth="14.928999999999998"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,18.561,.241)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345" xpluscharwidth="23.046"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,23.063,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="29.302999999999997"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,29.303,0)"><path d="M285 378C315 398 338 416 353 432C373 451 384 474 384 503C384 579 325 635 236 635H235C182 635 136 610 108 579L65 516L85 496C110 533 150 575 205 575C258 575 300 543 300 481C300 407 232 369 141 339L147 310C163 315 188 321 211 321C268 321 338 284 338 192C338 94 288 40 217 40C160 40 119 68 93 91C85 98 77 97 69 91C60 84 47 71 46 58C44 46 48 35 62 22C75 10 116 -12 162 -12C234 -12 424 62 424 224C424 297 373 359 285 376V378Z" id="g113-52"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="35.543"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,35.543,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="228" vert-adv-y="228" xpluscharwidth="38.507"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,40.686,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="46.926"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,46.926,0)"><path d="M249 635C141 635 70 555 70 471C70 401 114 353 179 316C143 294 106 267 90 252C68 231 45 202 45 157C45 50 130 -12 237 -12C322 -12 435 52 435 169C435 256 372 304 303 343C349 374 375 398 383 407C401 429 411 458 411 487C411 569 344 635 249 635ZM238 603C285 603 337 567 337 482C337 422 310 385 276 358C205 393 145 426 145 500C145 552 179 603 238 603ZM248 20C183 20 125 70 125 163C125 218 158 268 206 300C284 261 355 217 355 143C355 66 308 20 248 20Z" id="g113-57"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="53.166000000000004"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,53.271,.241)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345" xpluscharwidth="57.756"></glyph.data></g></svg></span></td><td class="align_center">Prey A</td><td class="align_center">No</td></tr><tr><td class="align_left">13</td><td class="align_center"><span style="width: 51.6508ptpx;"><svg height="11.439pt" id="M265" style="vertical-align:-2.39208pt" version="1.1" viewbox="-0.0498162 -9.04692 51.6508 11.439" width="51.6508pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341" xpluscharwidth="4.433"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,8.065,0)"><path d="M448 1V51H364C248 51 153 129 140 230H448V280H140C153 381 248 459 364 459H448V509H365C208 509 80 395 80 255S208 1 365 1H448Z" id="g117-173"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="528" vert-adv-y="528" xpluscharwidth="14.928999999999998"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,18.561,.241)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345" xpluscharwidth="23.046"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,23.063,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="29.302999999999997"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,29.303,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="228" vert-adv-y="228" xpluscharwidth="32.267"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,34.446,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="40.686"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,40.686,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480" xpluscharwidth="46.926"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,47.007,.241)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345" xpluscharwidth="51.492"></glyph.data></g></svg></span></td><td class="align_center">Prey B</td><td class="align_center">No</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Discrete Dynamics in Nature and Society

tab1

Table 1

Table 1: A Decentralized Partially Observable Markov Decision Model with Action Duration for Goal Recognition in Real Time Strategy Games 