smg player robot [north], [east], [south], [west], [stuck] endplayer player environment [low], [high] endplayer const double q1 = 0.5; const double q2; module M s:[0..6]; [east] s=0 -> 0.6:(s'=1) + 0.4:(s'=0); [south] s=0 -> 0.8:(s'=3) + 0.1:(s'=1) + 0.1:(s'=4); [east] s=1 -> 1:(s'=2); [south] s=1 -> (s'=6); [low] s=6 -> q1-q2:(s'=4) + (1-q1+q2):(s'=2); [high] s=6 -> q1+q2:(s'=4) + (1-q1-q2):(s'=2); [stuck] s=2 -> 1:(s'=2); [stuck] s=3 -> 1:(s'=3); [east] s=4 -> 1:(s'=5); [west] s=4 -> 0.6:(s'=3) + 0.4:(s'=4); [north] s=5 -> 0.9:(s'=2) + 0.1:(s'=5); [west] s=5 -> 1:(s'=4); endmodule label "hazard" = s=1; label "goal1" = s=5; label "goal2" = s=2|s=3; rewards "time" true : 1; endrewards