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Multigoal recognition results, meal goals. OM-o refers to the optimistic observation model, OM-p to the pessimistic observation model, HMM.u is the HMM with uninformed a priori goal probabilities, HMM.i is the HMM with informed a priori goal probabilities, CCBM.u is the CCBM with uninformed a priori goal probabilities, and CCBM.i is the CCBM with informed a priori goal probabilities.
