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(Left) Setup for the Human-Robot Interaction (HRI) task from Renaudo et al. (2015a): the human and the robot collaborate to put all boxes in a trashbin. (Right) Arena for the navigation task. A mapping of the states produced by the robot has been manually added. The red area indicates the goal location whereas the green areas indicate starting locations of the robot. Red numbers are starting location indexes; blue numbers are some states indexes referred to later.
