Table 7.

Stochastic environment: affordance probabilities for all objects and actions.

	Object	Move action prob.	Turn green prob.	Turn red prob.	Turn blue prob.
1	Red square	0.6	0.7	0.0	0.8
2	Green square	1.0	0.0	1.0	0.8
3	Blue square	1.0	0.7	1.0	0.0
4	Red circle	0.6	0.7	0.0	0.8
5	Green circle	1.0	0.0	1.0	0.8
6	Blue circle	1.0	0.7	1.0	0.0
7	Red rectangle	0.6	0.7	0.0	0.8
8	Green rectangle	1.0	0.0	1.0	0.8
9	Blue rectangle	1.0	0.7	1.0	0.0