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