Paper_Case_Study_SGP.ipynb

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      "source": [
        "# Value Iteration for PIMDP Reachability Checking\n",
        "# Jesse Jiang\n",
        "\n",
        "# Import classes\n",
        "import numpy as np\n",
        "\n",
        "# Class for PIMDP state\n",
        "class State:\n",
        "\n",
        "  # Constructor Method\n",
        "  def __init__(self, id, actions, lower, upper, stateType):\n",
        "    # Set state ID\n",
        "    self.id = id\n",
        "    # Possible actions\n",
        "    self.actions = actions\n",
        "    # Lower transition bounds for each action\n",
        "    # Dictionary format for each action, {nextState:transitionProb}\n",
        "    self.lower = [lower[x] for x in range(len(actions))]\n",
        "    # Upper transition bounds for each action\n",
        "    self.upper = [upper[x] for x in range(len(actions))]\n",
        "    # Accepting = 'a', Rejecting = 'r', Uncertain = 'u'\n",
        "    self.stateType = stateType\n",
        "    # Initial probability of satisfying specification\n",
        "    # 1 if accepting, 0 if rejecting or uncertain\n",
        "    if stateType == 'a':\n",
        "      self.psat = 1\n",
        "    else:\n",
        "      self.psat = 0\n",
        "\n",
        "  # Return state id\n",
        "  def getID(self):\n",
        "    return self.id\n",
        "\n",
        "  # Append a new action\n",
        "  def append(self, action, lower, upper):\n",
        "    self.actions.append(action)\n",
        "    self.lower.append(lower)\n",
        "    self.upper.append(upper)\n",
        "\n",
        "  # Remove an action\n",
        "  def remove(self, action):\n",
        "    idx = self.actions.index(action)\n",
        "    self.actions.pop(idx)\n",
        "    self.lower.pop(idx)\n",
        "    self.upper.pop(idx)\n",
        "\n",
        "  # Return probability of satisfying specification\n",
        "  def getPSat(self):\n",
        "    return self.psat\n",
        "\n",
        "  # Return set of actions\n",
        "  def getActions(self):\n",
        "    return self.actions\n",
        "\n",
        "  # Return lower transition probabilities for an action\n",
        "  def getLower(self, action):\n",
        "    idx = self.actions.index(action)\n",
        "    return self.lower[idx]\n",
        "\n",
        "  # Return upper transition probabilities for an action\n",
        "  def getUpper(self, action):\n",
        "    idx = self.actions.index(action)\n",
        "    return self.upper[idx]\n",
        "  \n",
        "  # Return next states for a given action\n",
        "  def getNext(self, action):\n",
        "    idx = self.actions.index(action)\n",
        "    return self.lower[idx].keys()\n",
        "\n",
        "  # Set state type\n",
        "  def setStateType(self, stateType):\n",
        "    self.stateType = stateType\n",
        "\n",
        "  # Update transition probability\n",
        "  def update(self, action, lower, upper):\n",
        "    idx = self.actions.index(action)\n",
        "    self.lower[idx] = lower\n",
        "    self.upper[idx] = upper\n",
        "\n",
        "  # Set probability of satisfying specification\n",
        "  def setPSat(self, psat):\n",
        "    self.psat = psat\n",
        "\n",
        "  # Set optimal control action\n",
        "  def setOptAct(self, action):\n",
        "    self.optimalAction = action\n",
        "\n",
        "  # Get state type\n",
        "  def getStateType(self):\n",
        "    return self.stateType\n",
        "\n",
        "  # Print info\n",
        "  def getInfo(self):\n",
        "    print(\"State ID: \" + str(self.id))\n",
        "    for action in self.actions:\n",
        "      idx = self.actions.index(action)\n",
        "      print(\"Action \" + action + \"\\nLower Transitions: \")\n",
        "      print(self.lower[idx])\n",
        "      print(\"Upper Transitions: \")\n",
        "      print(self.upper[idx])\n",
        "      print(\"\\n\")\n",
        "\n",
        "  # Get optimal control action\n",
        "  def getOptAct(self):\n",
        "    return self.optimalAction\n",
        "\n",
        "# Class for PIMDP State Space\n",
        "class StateSpace:\n",
        "\n",
        "  # Constructor Method\n",
        "  def __init__(self, states):\n",
        "    # Initialize state\n",
        "    self.states = states\n",
        "    # Initialize state IDs\n",
        "    self.ids = []\n",
        "    for state in states:\n",
        "      self.ids.append(state.getID())\n",
        "    # Initialize set of all actions\n",
        "    self.actions = []\n",
        "    self.lowers = []\n",
        "    self.uppers = []\n",
        "    self.psats = []\n",
        "  # Append State\n",
        "  def append(self, state):\n",
        "    self.states.append(state)\n",
        "    self.ids.append(state.getID())\n",
        "\n",
        "  # Remove State\n",
        "  def remove(self, state):\n",
        "    self.states.remove(state)\n",
        "    self.ids.remove(state.getID())\n",
        "\n",
        "  # Find all feasible actions\n",
        "  def findActions(self):\n",
        "    # Loop through all states\n",
        "    self.actions=[]\n",
        "    for state in self.states:\n",
        "      # get actions\n",
        "      tempActions = state.getActions()\n",
        "      for action in tempActions:\n",
        "        # append new actions\n",
        "        if action not in self.actions:\n",
        "          self.actions.append(action)\n",
        "\n",
        "  # Find number of uncertain states\n",
        "  def countUncertain(self):\n",
        "    self.numUncertain = 0\n",
        "    for state in self.states:\n",
        "      if state.getStateType() == 'u':\n",
        "        self.numUncertain = self.numUncertain + 1\n",
        "\n",
        "  # Construct Lower and Upper Transition Probability Matrix\n",
        "  def constructTransitions(self):\n",
        "    self.lowers = []\n",
        "    self.uppers = []\n",
        "    # Create one transition matrix for each action\n",
        "    for action in self.actions:\n",
        "      tempLower = np.zeros([len(self.states),len(self.states)])\n",
        "      tempUpper = np.zeros([len(self.states),len(self.states)])\n",
        "      # Loop through states\n",
        "      for state in self.states:\n",
        "        id = state.getID()\n",
        "        # Append transition probabilities if applicable\n",
        "        if action in state.getActions():\n",
        "            next = state.getNext(action)\n",
        "            lower = state.getLower(action)\n",
        "            upper = state.getUpper(action)\n",
        "            for ns in next:\n",
        "              tempLower[ns,id] = lower.get(ns)\n",
        "              tempUpper[ns,id] = upper.get(ns)\n",
        "      self.lowers.append(tempLower)\n",
        "      self.uppers.append(tempUpper)\n",
        "\n",
        "  # Construct vector of PSats\n",
        "  def getPSats(self):\n",
        "    self.psats=np.empty([len(self.states),1])\n",
        "    # Loop through states and append PSats\n",
        "    for state in range(len(self.states)):\n",
        "      self.psats[state] = self.states[state].getPSat()\n",
        "\n",
        "  # Construct list of optimal actions\n",
        "  def getOptActs(self):\n",
        "    self.optActs=[]\n",
        "    # Loop through states and append PSats\n",
        "    for state in self.states:\n",
        "      self.optActs.append(state.getOptAct())\n",
        "\n",
        "  # Order states\n",
        "  def orderStates(self):\n",
        "    self.getPSats()\n",
        "    # Return states ordered from lowest PSat to highest\n",
        "    return np.argsort(self.psats,axis=0)\n",
        "\n",
        "  # Construct minimizing transition matrix based on state ordering\n",
        "  def orderMinTransitions(self):\n",
        "    self.orderedTransitions = []\n",
        "    # Sort states from lowest to highest PSat\n",
        "    self.order = self.orderStates()\n",
        "    # Loop through each transition matrix\n",
        "    for act in range(len(self.actions)):\n",
        "      lower = self.lowers[act]\n",
        "      upper = self.uppers[act]\n",
        "      tempMat = np.zeros([len(self.states),len(self.states)])\n",
        "      # Loop through each row\n",
        "      for col in range(len(self.states)):\n",
        "        # Loop through each potential ordering\n",
        "        self.remainder = 0\n",
        "        for i in range(len(self.states)):\n",
        "          self.remainder = 0\n",
        "          # Add appropriate lower and upper probabilities\n",
        "          probs = np.sum(upper[self.order[0:i],col]) + np.sum(lower[self.order[i+1:],col])\n",
        "          # Check if remainder is a valid probability\n",
        "          diff = 1-probs\n",
        "          if ((diff<=upper[self.order[i],col]) and (diff>=lower[self.order[i],col])):\n",
        "            self.remainder = diff\n",
        "            break\n",
        "        # Assign final transition probabilities\n",
        "        tempMat[self.order[0:i],col] = upper[self.order[0:i],col]\n",
        "        tempMat[self.order[i+1:],col] = lower[self.order[i+1:],col]\n",
        "        tempMat[self.order[i],col] = self.remainder\n",
        "      # Construct final matrix for given action\n",
        "      self.orderedTransitions.append(tempMat)\n",
        "\n",
        "\n",
        "  # Construct maximizing transition matrix based on state ordering\n",
        "  def orderMaxTransitions(self):\n",
        "    self.orderedTransitions = []\n",
        "    # Sort states from lowest to highest PSat\n",
        "    self.order = self.orderStates()\n",
        "    self.order = self.order[::-1]\n",
        "    # Loop through each transition matrix\n",
        "    for act in range(len(self.actions)):\n",
        "      lower = self.lowers[act]\n",
        "      upper = self.uppers[act]\n",
        "      tempMat = np.zeros([len(self.states),len(self.states)])\n",
        "      # Loop through each row\n",
        "      for col in range(len(self.states)):\n",
        "        # Loop through each potential ordering\n",
        "        self.remainder = 0\n",
        "        for i in range(len(self.states)):\n",
        "          self.remainder = 0\n",
        "          # Add appropriate lower and upper probabilities\n",
        "          probs = np.sum(upper[self.order[0:i],col]) + np.sum(lower[self.order[i+1:],col])\n",
        "          # Check if remainder is a valid probability\n",
        "          diff = 1-probs\n",
        "          if ((diff<=upper[self.order[i],col]) and (diff>=lower[self.order[i],col])):\n",
        "            self.remainder = diff\n",
        "            break\n",
        "        # Assign final transition probabilities\n",
        "        tempMat[self.order[0:i],col] = upper[self.order[0:i],col]\n",
        "        tempMat[self.order[i+1:],col] = lower[self.order[i+1:],col]\n",
        "        tempMat[self.order[i],col] = self.remainder\n",
        "      # Construct final matrix for given action\n",
        "      self.orderedTransitions.append(tempMat)\n",
        "\n",
        "\n",
        "  # Perform a single iteration of algorithm\n",
        "  def iterate(self):\n",
        "    pTrans = np.zeros([len(self.states),len(self.actions)])\n",
        "    # Do matrix-vector multiplication for each action\n",
        "    for act in range(len(self.actions)):\n",
        "      pTrans[:,act] = np.squeeze(np.transpose(self.orderedTransitions[act]) @ self.psats)\n",
        "    # Maximize PSat for each state\n",
        "    i=0\n",
        "    for state in self.states:\n",
        "      # Find valid actions\n",
        "      idx = []\n",
        "      for act in state.getActions():\n",
        "        idx.append(self.actions.index(act))\n",
        "      # Maximize PSats\n",
        "      val = np.amax(pTrans[i,idx],axis=0)\n",
        "      state.setPSat(np.amax(pTrans[i,idx],axis=0))\n",
        "      idx = np.nonzero(pTrans[i,idx]==val)[0]\n",
        "      acts = []\n",
        "      for j in idx:\n",
        "        acts.append(state.getActions()[j])\n",
        "      state.setOptAct(acts)\n",
        "      i=i+1\n",
        "    return self.psats\n",
        "\n",
        "  # Repeat value iteration until condition is met\n",
        "  def valueIterationMin(self):\n",
        "    # Find all available actions\n",
        "    self.findActions()\n",
        "    # Construct upper and lower transition matrices\n",
        "    self.constructTransitions()\n",
        "    # Get initial PSats\n",
        "    self.getPSats()\n",
        "    i = 0\n",
        "    #print(\"Iteration \" + str(i))\n",
        "    #print(self.psats)\n",
        "    oldPsats = self.psats\n",
        "    # Construct ordered transition matrix\n",
        "    self.orderMinTransitions()\n",
        "    # Perform iteration\n",
        "    self.iterate()\n",
        "    self.getPSats()\n",
        "    i=i+1\n",
        "    # While probabilities are not steady state\n",
        "    while(np.amax(np.abs(oldPsats-self.psats))>0.01):\n",
        "      #print(\"Iteration \" + str(i))\n",
        "      #print(self.psats)\n",
        "      oldPsats = self.psats\n",
        "      # Iterate\n",
        "      self.orderMinTransitions()\n",
        "      self.iterate()\n",
        "      self.getPSats()\n",
        "      i=i+1\n",
        "    # Once probabilities are set, get optimal actions for each state\n",
        "    self.getOptActs()\n",
        "    #print(\"Optimal Actions: \")\n",
        "    #print(self.optActs)\n",
        "\n",
        "  # Repeat value iteration until condition is met\n",
        "  def valueIterationMax(self):\n",
        "    # Find all available actions\n",
        "    self.findActions()\n",
        "    # Construct upper and lower transition matrices\n",
        "    self.constructTransitions()\n",
        "    # Get initial PSats\n",
        "    self.getPSats()\n",
        "    i = 0\n",
        "    #print(\"Iteration \" + str(i))\n",
        "    #print(self.psats)\n",
        "    oldPsats = self.psats\n",
        "    # Construct ordered transition matrix\n",
        "    self.orderMaxTransitions()\n",
        "    # Perform iteration\n",
        "    self.iterate()\n",
        "    self.getPSats()\n",
        "    i=i+1\n",
        "    # While probabilities are not steady state\n",
        "    while(np.amax(np.abs(oldPsats-self.psats))>0.01):\n",
        "      #print(\"Iteration \" + str(i))\n",
        "      #print(self.psats)\n",
        "      oldPsats = self.psats\n",
        "      # Iterate\n",
        "      self.orderMaxTransitions()\n",
        "      self.iterate()\n",
        "      self.getPSats()\n",
        "      i=i+1\n",
        "    # Once probabilities are set, get optimal actions for each state\n",
        "    self.getOptActs()\n",
        "    #print(\"Optimal Actions: \")\n",
        "    #print(self.optActs)\n",
        "\n",
        "  # Print states\n",
        "  def getInfo(self):\n",
        "    print(\"State Space\\n\")\n",
        "    for state in self.states:\n",
        "      state.getInfo()"
      ]
    },
    {
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      "execution_count": 2,
      "metadata": {
        "id": "hNqgTvTo4A1n"
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      "source": [
        "# Gaussian Process Setup\n",
        "import math\n",
        "\n",
        "class GaussianProcess:\n",
        "\n",
        "  # Constructor Method\n",
        "  def __init__(self):\n",
        "    # Initialize variance such that all known g(x) are within one standard deviation\n",
        "    self.variance = 0.45**2\n",
        "    # Initialize length\n",
        "    self.l = 1.75\n",
        "    # Initialize Data Points\n",
        "    self.pos = np.empty((2,0))\n",
        "    self.val = np.empty((1,0))\n",
        "    # Initialize stochastic noise variance\n",
        "    self.noiseVariance = 0.1 ** 2\n",
        "    self.ZZ = []\n",
        "  \n",
        "  # Add Data Samples\n",
        "  def append(self,pos,val):\n",
        "    # Append coordinate position\n",
        "    self.pos = pos\n",
        "    # Append g(x) value\n",
        "    self.val = val\n",
        "\n",
        "  # Construct Correlation Matrix\n",
        "  def correlation(self, X1, X2):\n",
        "    # Initialize correlation matrix\n",
        "    K = np.zeros((X1.shape[1], X2.shape[1]))\n",
        "    # Loop through all matrix entries\n",
        "    for i in np.arange(X1.shape[1]):\n",
        "      for j in np.arange(X2.shape[1]):\n",
        "        K[i,j] = self.variance*math.exp(-(np.linalg.norm(X1[:,i]-X2[:,j])**2)/(2*self.l**2))\n",
        "    return K\n",
        "  \n",
        "  # Calculate correlations\n",
        "  def train(self):\n",
        "    self.ZZ = np.linalg.inv(self.correlation(self.pos,self.pos)+self.noiseVariance*np.identity(self.pos.shape[1]))\n",
        "\n",
        "  # Calculate predicted mean at a point\n",
        "  def calcMean(self,pos):\n",
        "    # edge case with no samples\n",
        "    if self.pos.shape[1] == 0:\n",
        "      return np.array([[0]])\n",
        "    return self.correlation(pos,self.pos)@self.ZZ@self.val.T\n",
        "\n",
        "  # Calculate predicted variance at a point\n",
        "  def calcVariance(self, pos):\n",
        "    # edge case with no samples\n",
        "    if self.pos.shape[1] == 0:\n",
        "      return np.array([[self.variance]])\n",
        "    return self.correlation(pos,pos)-self.correlation(pos,self.pos)@self.ZZ@self.correlation(self.pos,pos)"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 3,
      "metadata": {
        "id": "H0XDSSPot7s8"
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      "outputs": [],
      "source": [
        "# Gaussian Process Setup for True Dynamics\n",
        "import math\n",
        "\n",
        "class GaussianProcessTrue:\n",
        "\n",
        "  # Constructor Method\n",
        "  def __init__(self):\n",
        "    # Initialize variance such that all known g(x) are within one standard deviation\n",
        "    self.variance = 0.45**2\n",
        "    # Initialize length\n",
        "    self.l = 1.75\n",
        "    # Initialize Data Points\n",
        "    self.pos = np.empty((2,0))\n",
        "    self.val = np.empty((1,0))\n",
        "    self.ZZ = []\n",
        "  \n",
        "  # Add Data Samples\n",
        "  def append(self,pos,val):\n",
        "    # Append coordinate position\n",
        "    self.pos = pos\n",
        "    # Append g(x) value\n",
        "    self.val = val\n",
        "\n",
        "  # Construct Correlation Matrix\n",
        "  def correlation(self, X1, X2):\n",
        "    # Initialize correlation matrix\n",
        "    K = np.zeros((X1.shape[1], X2.shape[1]))\n",
        "    # Loop through all matrix entries\n",
        "    for i in np.arange(X1.shape[1]):\n",
        "      for j in np.arange(X2.shape[1]):\n",
        "        K[i,j] = self.variance*math.exp(-(np.linalg.norm(X1[:,i]-X2[:,j])**2)/(2*self.l**2))\n",
        "    return K\n",
        "  \n",
        "  # Calculate correlations\n",
        "  def train(self):\n",
        "    self.ZZ = np.linalg.inv(self.correlation(self.pos,self.pos))\n",
        "\n",
        "  # Calculate predicted mean at a point\n",
        "  def calcMean(self,pos):\n",
        "    # edge case with no samples\n",
        "    if self.pos.shape[1] == 0:\n",
        "      return np.array([[0]])\n",
        "    return self.correlation(pos,self.pos)@self.ZZ@self.val.T\n",
        "\n",
        "  # Calculate predicted variance at a point\n",
        "  def calcVariance(self, pos):\n",
        "    # edge case with no samples\n",
        "    if self.pos.shape[1] == 0:\n",
        "      return np.array([[self.variance]])\n",
        "    return self.correlation(pos,pos)-self.correlation(pos,self.pos)@self.ZZ@self.correlation(self.pos,pos)"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 4,
      "metadata": {
        "id": "BWwp91TuwQod"
      },
      "outputs": [],
      "source": [
        "# Sparse Gaussian Process\n",
        "# Code by Martin Krasser\n",
        "import jax.numpy as jnp\n",
        "import jax.scipy as jsp\n",
        "\n",
        "from jax import random, jit, value_and_grad\n",
        "from jax.config import config\n",
        "from scipy.optimize import minimize\n",
        "\n",
        "config.update(\"jax_enable_x64\", True)\n",
        "\n",
        "class SparseGaussianProcess:\n",
        "\n",
        "    # Constructor Method\n",
        "  def __init__(self):\n",
        "    # Initialize variance such that all known g(x) are within one standard deviation\n",
        "    self.variance = (0.45)**2\n",
        "    # Initialize length\n",
        "    self.l = 1.75\n",
        "    # Initialize Data Points\n",
        "    self.pos = np.empty((2,0))\n",
        "    self.val = np.empty((1,0))\n",
        "    # Initialize stochastic noise variance\n",
        "    self.noiseVariance = 0.1 ** 2\n",
        "    self.noiseStd = 0.1\n",
        "    self.ZZ = []\n",
        "    # Initialize number of inducing variables\n",
        "    self.m = 250\n",
        "    self.theta_opt = []\n",
        "  \n",
        "  # Add Data Samples\n",
        "  def append(self,pos,val):\n",
        "    # Append coordinate position\n",
        "    self.pos = pos\n",
        "    # Append g(x) value\n",
        "    self.val = val\n",
        "\n",
        "  def calcMean(self,pos):\n",
        "    # edge case with no samples\n",
        "    if self.pos.shape[1] == 0:\n",
        "      return np.array([[0]])\n",
        "    f_test, f_test_cov = q(pos.T, self.theta_opt, self.X_m_opt, self.mu_m_opt, self.A_m_opt, self.K_mm_inv)\n",
        "    return f_test\n",
        "\n",
        "  def calcVariance(self,pos):\n",
        "    # edge case with no samples\n",
        "    if self.pos.shape[1] == 0:\n",
        "      return np.array([[self.variance]])\n",
        "    f_test, f_test_cov = q(pos.T, self.theta_opt, self.X_m_opt, self.mu_m_opt, self.A_m_opt, self.K_mm_inv)\n",
        "    f_test_var = np.diag(f_test_cov)\n",
        "    f_test_std = np.sqrt(f_test_var) \n",
        "    return f_test_var\n",
        "\n",
        "  def correlation(self, X1, X2):\n",
        "    # Initialize correlation matrix\n",
        "    K = np.zeros((X1.shape[1], X2.shape[1]))\n",
        "    # Loop through all matrix entries\n",
        "    for i in np.arange(X1.shape[1]):\n",
        "      for j in np.arange(X2.shape[1]):\n",
        "        K[i,j] = self.variance*math.exp(-(np.linalg.norm(X1[:,i]-X2[:,j])**2)/(2*self.l**2))\n",
        "    return K\n",
        "  \n",
        "  def train(self):\n",
        "    # Optimized kernel parameters and inducing inputs\n",
        "    #self.theta_opt, self.X_m_opt = opt(self.pos,self.val,self.m,self.noiseStd)\n",
        "    self.X_m_opt = opt(self.pos,self.val,self.m,self.noiseStd)\n",
        "    self.mu_m_opt, self.A_m_opt, self.K_mm_inv = phi_opt(self.theta_opt, self.X_m_opt, self.pos.T, self.val.T, self.noiseStd)"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 5,
      "metadata": {
        "id": "eocOBjbgt7s9"
      },
      "outputs": [],
      "source": [
        "# Sparse Gaussian Process Methods\n",
        "\n",
        "# Kernel hyperparameters (length,standard deviation)\n",
        "theta_fixed = jnp.array([1.75,0.45])\n",
        "def kernel(X1, X2, theta):\n",
        "    \"\"\"\n",
        "    Isotropic squared exponential kernel.\n",
        "    \n",
        "    Args:\n",
        "        X1: Array of m points (m, d).\n",
        "        X2: Array of n points (n, d).\n",
        "        theta: kernel parameters (2,)\n",
        "    \"\"\"\n",
        "\n",
        "    sqdist = jnp.sum(X1 ** 2, 1).reshape(-1, 1) + jnp.sum(X2 ** 2, 1) - 2 * jnp.dot(X1, X2.T)\n",
        "    return theta[1] ** 2 * jnp.exp(-0.5 / theta[0] ** 2 * sqdist)\n",
        "\n",
        "\n",
        "def kernel_diag(d, theta):\n",
        "    \"\"\"\n",
        "    Isotropic squared exponential kernel (computes diagonal elements only).\n",
        "    \"\"\"\n",
        "    return jnp.full(shape=d, fill_value=theta[1] ** 2)\n",
        "\n",
        "def jitter(d, value=1e-6):\n",
        "    return jnp.eye(d) * value\n",
        "\n",
        "\n",
        "def softplus(X):\n",
        "    return jnp.log(1 + jnp.exp(X))\n",
        "\n",
        "\n",
        "def softplus_inv(X):\n",
        "    return jnp.log(jnp.exp(X) - 1)\n",
        "\n",
        "\n",
        "def pack_params(theta, X_m):\n",
        "    return jnp.concatenate([softplus_inv(theta), X_m.ravel()])\n",
        "\n",
        "\n",
        "def unpack_params(params):\n",
        "    return softplus(params[:2]), jnp.array(params[2:].reshape(-1, 2))\n",
        "\n",
        "\n",
        "def nlb_fn(X, y, sigma_y):\n",
        "    n = X.shape[0]\n",
        "\n",
        "    def nlb(params):\n",
        "        \"\"\"\n",
        "        Negative lower bound on log marginal likelihood.\n",
        "        \n",
        "        Args:\n",
        "            params: kernel parameters `theta` and inducing inputs `X_m`\n",
        "        \"\"\"\n",
        "        \n",
        "        theta, X_m = unpack_params(params)\n",
        "        K_mm = kernel(X_m, X_m, theta) + jitter(X_m.shape[0])\n",
        "        K_mn = kernel(X_m, X, theta)\n",
        "\n",
        "        L = jnp.linalg.cholesky(K_mm)  # m x m\n",
        "        A = jsp.linalg.solve_triangular(L, K_mn, lower=True) / sigma_y # m x n        \n",
        "        AAT = A @ A.T  # m x m\n",
        "        B = jnp.eye(X_m.shape[0]) + AAT  # m x m\n",
        "        LB = jnp.linalg.cholesky(B)  # m x m\n",
        "        c = jsp.linalg.solve_triangular(LB, A.dot(y), lower=True) / sigma_y  # m x 1\n",
        "\n",
        "        # Equation (13)\n",
        "        lb = - n / 2 * jnp.log(2 * jnp.pi)\n",
        "        lb -= jnp.sum(jnp.log(jnp.diag(LB)))\n",
        "        lb -= n / 2 * jnp.log(sigma_y ** 2)\n",
        "        lb -= 0.5 / sigma_y ** 2 * y.T.dot(y)\n",
        "        lb += 0.5 * c.T.dot(c)\n",
        "        lb -= 0.5 / sigma_y ** 2 * jnp.sum(kernel_diag(n, theta))\n",
        "        lb += 0.5 * jnp.trace(AAT)\n",
        "\n",
        "        return -lb[0, 0]\n",
        "\n",
        "    # nlb_grad returns the negative lower bound and \n",
        "    # its gradient w.r.t. params i.e. theta and X_m.\n",
        "    nlb_grad = jit(value_and_grad(nlb))\n",
        "\n",
        "    def nlb_grad_wrapper(params):\n",
        "        value, grads = nlb_grad(params)\n",
        "        # scipy.optimize.minimize cannot handle\n",
        "        # JAX DeviceArray directly. a conversion\n",
        "        # to Numpy ndarray is needed.\n",
        "        return np.array(value), np.array(grads)\n",
        "\n",
        "    return nlb_grad_wrapper\n",
        "\n",
        "  # Run optimization\n",
        "def opt(pos,val,m,noiseStd):\n",
        "  # Initialize inducing inputs\n",
        "  indices = jnp.floor(jnp.linspace(0,pos.shape[1]-1,m)).astype(int)\n",
        "  X_m = jnp.array(pos.T[indices,:])\n",
        "  res = minimize(fun=nlb_fn(pos.T, val.T, noiseStd),\n",
        "                  x0=pack_params(jnp.array([1.0, 1.0]), X_m),\n",
        "                  method='L-BFGS-B',\n",
        "                  jac=True)\n",
        "\n",
        "    # Optimized kernel parameters and inducing inputs\n",
        "  theta_opt, X_m_opt = unpack_params(res.x)\n",
        "  return X_m_opt  \n",
        "\n",
        "@jit\n",
        "def phi_opt(theta, X_m, X, y, sigma_y):\n",
        "  theta = theta_fixed\n",
        "  \"\"\"Optimize mu_m and A_m using Equations (11) and (12).\"\"\"\n",
        "  precision = (1.0 / sigma_y ** 2)\n",
        "\n",
        "  K_mm = kernel(X_m, X_m, theta) + jitter(X_m.shape[0])\n",
        "  K_mm_inv = jnp.linalg.inv(K_mm)\n",
        "  K_nm = kernel(X, X_m, theta)\n",
        "  K_mn = K_nm.T\n",
        "    \n",
        "  Sigma = jnp.linalg.inv(K_mm + precision * K_mn @ K_nm)\n",
        "    \n",
        "  mu_m = precision * (K_mm @ Sigma @ K_mn).dot(y)\n",
        "  A_m = K_mm @ Sigma @ K_mm    \n",
        "  \n",
        "  return mu_m, A_m, K_mm_inv\n",
        "\n",
        "\n",
        "@jit\n",
        "def q(X_test, theta, X_m, mu_m, A_m, K_mm_inv):\n",
        "  \"\"\"\n",
        "  Approximate posterior. \n",
        "    \n",
        "  Computes mean and covariance of latent \n",
        "  function values at test inputs X_test.\n",
        "  \"\"\"\n",
        "  theta = theta_fixed\n",
        "  K_ss = kernel(X_test, X_test, theta)\n",
        "  K_sm = kernel(X_test, X_m, theta)\n",
        "  K_ms = K_sm.T\n",
        "\n",
        "  f_q = (K_sm @ K_mm_inv).dot(mu_m)\n",
        "  f_q_cov = K_ss - K_sm @ K_mm_inv @ K_ms + K_sm @ K_mm_inv @ A_m @ K_mm_inv @ K_ms\n",
        "    \n",
        "  return f_q, f_q_cov\n",
        "\n",
        "\n",
        "\n",
        "\n",
        "\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 6,
      "metadata": {
        "id": "9KOz9Vvt8L-G"
      },
      "outputs": [],
      "source": [
        "# Python program to find strongly connected components in a given\n",
        "# directed graph using Tarjan's algorithm (single DFS)\n",
        "#Complexity : O(V+E)\n",
        "#Author: GeeksForGeeks\n",
        "  \n",
        "from collections import defaultdict\n",
        "  \n",
        "#This class represents an directed graph\n",
        "# using adjacency list representation\n",
        "class Graph:\n",
        "  \n",
        "    def __init__(self,vertices):\n",
        "        #No. of vertices\n",
        "        self.V = vertices\n",
        "         \n",
        "        # default dictionary to store graph\n",
        "        self.graph = defaultdict(list)\n",
        "         \n",
        "        self.Time = 0\n",
        "        self.sccs = []\n",
        "  \n",
        "    # function to add an edge to graph\n",
        "    def addEdge(self,u,v):\n",
        "        self.graph[u].append(v)\n",
        "         \n",
        "  \n",
        "    '''A recursive function that find finds and prints strongly connected\n",
        "    components using DFS traversal\n",
        "    u --> The vertex to be visited next\n",
        "    disc[] --> Stores discovery times of visited vertices\n",
        "    low[] -- >> earliest visited vertex (the vertex with minimum\n",
        "                discovery time) that can be reached from subtree\n",
        "                rooted with current vertex\n",
        "     st -- >> To store all the connected ancestors (could be part\n",
        "           of SCC)\n",
        "     stackMember[] --> bit/index array for faster check whether\n",
        "                  a node is in stack\n",
        "    '''\n",
        "    def SCCUtil(self,u, low, disc, stackMember, st):\n",
        " \n",
        "        # Initialize discovery time and low value\n",
        "        disc[u] = self.Time\n",
        "        low[u] = self.Time\n",
        "        self.Time += 1\n",
        "        stackMember[u] = True\n",
        "        st.append(u)\n",
        "\n",
        "        # Go through all vertices adjacent to this\n",
        "        for v in self.graph[u]:\n",
        "             \n",
        "            # If v is not visited yet, then recur for it\n",
        "            if disc[v] == -1 :\n",
        "             \n",
        "                self.SCCUtil(v, low, disc, stackMember, st)\n",
        " \n",
        "                # Check if the subtree rooted with v has a connection to\n",
        "                # one of the ancestors of u\n",
        "                # Case 1 (per above discussion on Disc and Low value)\n",
        "                low[u] = min(low[u], low[v])\n",
        "                         \n",
        "            elif stackMember[v] == True:\n",
        " \n",
        "                '''Update low value of 'u' only if 'v' is still in stack\n",
        "                (i.e. it's a back edge, not cross edge).\n",
        "                Case 2 (per above discussion on Disc and Low value) '''\n",
        "                low[u] = min(low[u], disc[v])\n",
        " \n",
        "        # head node found, pop the stack and print an SCC\n",
        "        w = -1 #To store stack extracted vertices\n",
        "        if low[u] == disc[u]:\n",
        "            # temp list\n",
        "            tempList = []\n",
        "            while w != u:\n",
        "                w = st.pop()\n",
        "                # Append to list\n",
        "                tempList.append(w)\n",
        "                stackMember[w] = False\n",
        "                 \n",
        "            # Append list to main list\n",
        "            self.sccs.append(tempList)\n",
        "\n",
        "#The function to do DFS traversal.\n",
        "    # It uses recursive SCCUtil()\n",
        "    def SCC(self):\n",
        "  \n",
        "        # Mark all the vertices as not visited\n",
        "        # and Initialize parent and visited,\n",
        "        # and ap(articulation point) arrays\n",
        "        disc = [-1] * (self.V)\n",
        "        low = [-1] * (self.V)\n",
        "        stackMember = [False] * (self.V)\n",
        "        st =[]\n",
        "         \n",
        " \n",
        "        # Call the recursive helper function\n",
        "        # to find articulation points\n",
        "        # in DFS tree rooted with vertex 'i'\n",
        "        for i in range(self.V):\n",
        "            if disc[i] == -1:\n",
        "                self.SCCUtil(i, low, disc, stackMember, st)"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 7,
      "metadata": {
        "id": "nbtBtiPdH-gh"
      },
      "outputs": [],
      "source": [
        "# Grid World Example Setup\n",
        "\n",
        "import scipy.stats as stats\n",
        "import copy\n",
        "\n",
        "# Initialize random seed for rng\n",
        "rng = np.random.default_rng(2022)\n",
        "\n",
        "# Create grid world class\n",
        "class GridWorld:\n",
        "\n",
        "  # Create random slopes (between -0.2 and 0.2)\n",
        "  slopex = rng.integers(low=-2,high=3,size=(1,25)).astype(float)/10\n",
        "  slopey = rng.integers(low=-2,high=3,size=(1,25)).astype(float)/10\n",
        "\n",
        "  # Constructor Method\n",
        "  def __init__(self):\n",
        "    # Number of states\n",
        "    self.numStates = 25\n",
        "    # Initialize position of robot\n",
        "    self.currentPos = np.array([[0.5],[0.5]])\n",
        "    # Calculate region centers\n",
        "    xpos = np.reshape(np.arange(0.5,5,1),(1,5))\n",
        "    ypos = np.ones((1,5))\n",
        "    self.centers = np.concatenate((np.concatenate((xpos,xpos,xpos,xpos,xpos),axis=1),np.reshape(xpos.T@ypos,(1,25))),axis=0)\n",
        "    # Initialize Gaussian Processes for all dimensions\n",
        "    self.gpX = SparseGaussianProcess()\n",
        "    self.gpY = SparseGaussianProcess()\n",
        "    # Initialize Gaussian Processes for true dynamics\n",
        "    self.gX = GaussianProcessTrue()\n",
        "    self.gY = GaussianProcessTrue()\n",
        "    self.gX.append(self.centers, GridWorld.slopex)\n",
        "    self.gY.append(self.centers, GridWorld.slopey)\n",
        "    self.gX.train()\n",
        "    self.gY.train()\n",
        "    # Initialize stochastic noise\n",
        "    self.noiseStd = 0.1\n",
        "    self.noiseVariance = self.noiseStd ** 2\n",
        "    self.v = stats.truncnorm(-2,2,loc=0,scale=self.noiseStd)\n",
        "    # Initialize GP training arrays\n",
        "    self.pos = np.empty((2,0))\n",
        "    self.val = np.empty((2,0))\n",
        "    # Set initial state\n",
        "    self.initState = self.getRegion()\n",
        "    self.currState = self.initState\n",
        "    # Set desired probability of satisfaction for goal state\n",
        "    self.Psat = 1\n",
        "    # Initialize uncertainty vector\n",
        "    self.uncertainty = np.empty((1,0))\n",
        "    # Initialize vector of psats\n",
        "    self.psats = np.empty((1,0))\n",
        "    # Initialize error vector\n",
        "    self.errors = np.empty((1,0))\n",
        "\n",
        "  # Method to determine current abstraction region\n",
        "  def getRegion(self):\n",
        "    # Get x value\n",
        "    x = np.floor(self.currentPos[0])\n",
        "    # Get y value\n",
        "    y = np.floor(self.currentPos[1])\n",
        "    # Round down if position is exactly 5\n",
        "    x = np.min(np.concatenate((x.reshape(1,1),np.array([[4]]))))\n",
        "    y = np.min(np.concatenate((y.reshape(1,1),np.array([[4]]))))\n",
        "    # Return region\n",
        "    return int(5*y+x)\n",
        "\n",
        "  # Method to calculate true unknown dynamics\n",
        "  def g(self):\n",
        "    # Get true GP values\n",
        "    x=self.gX.calcMean(self.getPos())\n",
        "    x=np.array(min(max(x,-.4),.4)).reshape(1,1)\n",
        "    y=self.gY.calcMean(self.getPos())\n",
        "    y=np.array(min(max(y,-.4),.4)).reshape(1,1)\n",
        "    return np.concatenate((x,y),axis=0).reshape(2,1)\n",
        "\n",
        "  # Method to calculate true unknown dynamics at arbitrary state\n",
        "  def g2(self, pos):\n",
        "    # Get true GP values\n",
        "    x=self.gX.calcMean(pos)\n",
        "    x=np.array(min(max(x,-.4),.4)).reshape(1,1)\n",
        "    y=self.gY.calcMean(pos)\n",
        "    y=np.array(min(max(y,-.4),.4)).reshape(1,1)\n",
        "    return np.concatenate((x,y),axis=0).reshape(2,1)\n",
        "  \n",
        "  # Method to calculate region of x uncertainty of GP approximation\n",
        "  def stdx(self, region):\n",
        "    # Initialize g(x) uncertainty\n",
        "    maxVar = 0\n",
        "    # Loop through grid of 100 points in region\n",
        "    cen = self.getCenter(region)\n",
        "    for i in np.arange(cen[0]-0.45, cen[0]+0.5, 0.45):\n",
        "      for j in np.arange(cen[1]-0.45, cen[1]+0.5, 0.45):\n",
        "        pos = np.array([[i],[j]])\n",
        "        # Calculate x variance at point\n",
        "        tempVar = self.gpX.calcVariance(pos)\n",
        "        # Update max variance\n",
        "        if tempVar > maxVar:\n",
        "          maxVar = tempVar\n",
        "    return maxVar\n",
        "        \n",
        "  # Method to calculate region of y uncertainty of GP approximation\n",
        "  def stdy(self, region):\n",
        "    # Initialize g(x) uncertainty\n",
        "    maxVar = 0\n",
        "    # Loop through grid of 100 points in region\n",
        "    cen = self.getCenter(region)\n",
        "    for i in np.arange(cen[0]-0.45, cen[0]+0.5, 0.45):\n",
        "      for j in np.arange(cen[1]-0.45, cen[1]+0.5, 0.45):\n",
        "        pos = np.array([[i],[j]])\n",
        "        # Calculate y variance at point\n",
        "        tempVar = self.gpY.calcVariance(pos)\n",
        "        # Update max variance\n",
        "        if tempVar > maxVar:\n",
        "          maxVar = tempVar\n",
        "    return maxVar\n",
        "\n",
        "  # Method to set the current position\n",
        "  def setPos(self,pos):\n",
        "    self.currentPos=pos\n",
        "\n",
        "  # Method to return the current position\n",
        "  def getPos(self):\n",
        "    return self.currentPos.reshape(2,1)\n",
        "\n",
        "  # Method to return center of region\n",
        "  def getCenter(self,region):\n",
        "    return self.centers[:,region].reshape(2,1)\n",
        "\n",
        "  # Method to simulate a discrete step\n",
        "  def step(self,target):\n",
        "    # Calculate controller\n",
        "    u = self.getCenter(target)-self.getPos()-np.concatenate((self.gpX.calcMean(self.getPos()),self.gpY.calcMean(self.getPos())),axis=0)\n",
        "    prevPos = self.getPos()\n",
        "    #print(self.g())\n",
        "    self.currentPos = self.getPos()+u+self.g()+self.v.rvs(size=2,random_state=rng.integers(2**32-1)).reshape(2,1)\n",
        "    # Append training samples\n",
        "    self.pos = np.append(self.pos,prevPos,axis=1)\n",
        "    self.val = np.append(self.val,(self.getPos()-prevPos-u).reshape(2,1),axis=1)\n",
        "    # Prevent leaving the boundary of the world\n",
        "    if self.currentPos[0] > 5:\n",
        "      self.currentPos[0] = 5\n",
        "    if self.currentPos[1] > 5:\n",
        "      self.currentPos[1] = 5\n",
        "    if self.currentPos[0] < 0:\n",
        "      self.currentPos[0] = 0\n",
        "    if self.currentPos[1] < 0:\n",
        "      self.currentPos[1] = 0\n",
        "\n",
        "  # Method to train Gaussian processes\n",
        "  def train(self):\n",
        "    # Add sample to GP x\n",
        "    self.gpX.append(self.pos,self.val[0,:].reshape(1,-1))\n",
        "    # Add sample to GP y\n",
        "    self.gpY.append(self.pos,self.val[1,:].reshape(1,-1))\n",
        "    # Perform GP Regression\n",
        "    ZZ = self.gpX.train()\n",
        "    ZZ = self.gpY.train()\n",
        "\n",
        "  # Method to construct states\n",
        "  def makeStates(self):\n",
        "    # Initialize 25 states in grid world\n",
        "    states = []\n",
        "    ids = np.arange(25)\n",
        "    self.goals = [14]\n",
        "    self.hazards = [7,8,9,19]\n",
        "    for id in ids:\n",
        "      # Initialize generic states\n",
        "      tempState = State(id,['l','r','u','d'],[{},{},{},{}],[{},{},{},{}],'u')\n",
        "      states.append(tempState)\n",
        "      states[id].setPSat(0)\n",
        "      # Remove invalid actions\n",
        "      if id%5==0:\n",
        "        states[id].remove('l')\n",
        "      if math.floor(id/5)==0:\n",
        "        states[id].remove('d')\n",
        "      if id%5==4:\n",
        "        states[id].remove('r')\n",
        "      if math.floor(id/5)==4:\n",
        "        states[id].remove('u')\n",
        "      # Assign goal and hazard states\n",
        "      if id in self.goals:\n",
        "        states[id].setStateType('a')\n",
        "        states[id].setPSat(1)\n",
        "        states[id].actions=['s']\n",
        "      elif id in self.hazards:\n",
        "        states[id].setStateType('r')\n",
        "        states[id].actions=['s']\n",
        "    # Create State Space\n",
        "    self.s = StateSpace(states)\n",
        "    self.calcTransitionProbabilities()\n",
        "\n",
        "  # Method to calculate transition probabilities \n",
        "  def calcTransitionProbabilities(self):\n",
        "    # Loop through all states in the state space\n",
        "    for state in self.s.states:\n",
        "      id = state.getID()\n",
        "      # Loop through all actions\n",
        "      for action in state.getActions():\n",
        "        # Calculate desired next state based on action\n",
        "        if action == 'l':\n",
        "          desired = id-1\n",
        "        elif action == 'd':\n",
        "          desired = id-5\n",
        "        elif action == \"u\":\n",
        "          desired = id+5\n",
        "        elif action == \"r\":\n",
        "          desired = id+1\n",
        "        elif action == \"s\":\n",
        "          desired = id\n",
        "        # Initialize transition probability dictionaries\n",
        "        lowers = {}\n",
        "        uppers = {}\n",
        "        # Calculate reachable states \n",
        "        std2x = 2*math.sqrt(self.stdx(id))\n",
        "        std2y = 2*math.sqrt(self.stdy(id))\n",
        "        limitX = math.ceil(std2x+2*self.noiseStd-0.5)\n",
        "        limitY = math.ceil(std2y+2*self.noiseStd-0.5)\n",
        "        # Loop through reachable states\n",
        "        for x in np.arange(max(-limitX,-(desired%5)),min(limitX+1,5-(desired%5))):\n",
        "          for y in np.arange(max(-limitY,-math.floor(desired/5)),min(limitY+1,5-math.floor(desired/5))):\n",
        "            # Calculate state id\n",
        "            tempID = desired+int(5*y+x)\n",
        "            # Check for valid state\n",
        "            if (0<=tempID and tempID<=24):\n",
        "              # Calculate point in g(x) rectangle to use for lower and upper bounds\n",
        "              if x>0:\n",
        "                lowerX = self.v.cdf(0.5+std2x+x)-self.v.cdf(0.5+std2x+(x-1))\n",
        "                upperX = self.v.cdf(0.5-std2x+x)-self.v.cdf(0.5-std2x+(x-1))\n",
        "              elif x==0:\n",
        "                lowerX = self.v.cdf(0.5-std2x)-self.v.cdf(-0.5-std2x)\n",
        "                upperX = self.v.cdf(0.5)-self.v.cdf(-0.5)\n",
        "              elif x<0:\n",
        "                lowerX = self.v.cdf(-0.5-std2x)-self.v.cdf(-0.5-std2x+x)\n",
        "                upperX = self.v.cdf(-0.5+std2x)-self.v.cdf(-0.5+std2x+x)\n",
        "              if y>0:\n",
        "                lowerY = self.v.cdf(0.5+std2y+y)-self.v.cdf(0.5+std2y+(y-1))\n",
        "                upperY = self.v.cdf(0.5-std2y+y)-self.v.cdf(0.5-std2y+(y-1))\n",
        "              elif y==0:\n",
        "                lowerY = self.v.cdf(0.5-std2y)-self.v.cdf(-0.5-std2y)\n",
        "                upperY = self.v.cdf(0.5)-self.v.cdf(-0.5)\n",
        "              elif y<0:\n",
        "                lowerY = self.v.cdf(-0.5-std2y)-self.v.cdf(-0.5-std2y+y)\n",
        "                upperY = self.v.cdf(-0.5+std2y)-self.v.cdf(-0.5+std2y+y)\n",
        "              # Add reachable states and transition probabilities\n",
        "              lowers[tempID] = lowerX*lowerY\n",
        "              uppers[tempID] = upperX*upperY\n",
        "          if action==\"s\":\n",
        "            lowers={id:1}\n",
        "            uppers={id:1}\n",
        "        # Update transition probabilities for each action\n",
        "        state.update(action,lowers,uppers)\n",
        "      #state.getInfo()\n",
        "\n",
        "  # Method to calculate safe subgraph\n",
        "  def pruneGraph(self):\n",
        "    # Perform max value iteration\n",
        "    self.s.valueIterationMax()\n",
        "    # Create copy of graph to prune\n",
        "    self.safeSG = copy.deepcopy(self.s)\n",
        "    # Identify states to prune\n",
        "    self.hazards = []\n",
        "    for state in self.safeSG.states:\n",
        "      if state.getPSat() == 0:\n",
        "        self.hazards.append(state.getID())\n",
        "    for id in self.hazards:\n",
        "      idx = self.safeSG.ids.index(id)\n",
        "      self.safeSG.remove(self.safeSG.states[idx])\n",
        "      #print(id)\n",
        "    #Loop while more states have been added as hazards\n",
        "    newStates = 1\n",
        "    while newStates != 0:\n",
        "      newStates = 0\n",
        "      # Loop through states\n",
        "      toRemove = []\n",
        "      for state in self.safeSG.states:\n",
        "        # Loop through actions\n",
        "        toRemoveAct = []\n",
        "        for action in state.getActions():\n",
        "          # Get reachable states\n",
        "          next = state.getNext(action)\n",
        "          # Check if action transitions to hazard state\n",
        "          if not (set(next).isdisjoint(self.hazards)):\n",
        "            #print(str(state.getID())+\" \"+str(action)+\" \")\n",
        "            #print(next)\n",
        "            # Remove action\n",
        "            toRemoveAct.append(action)\n",
        "        # Remove actions\n",
        "        for act in toRemoveAct:\n",
        "          state.remove(act)\n",
        "        # Check if action set is empty\n",
        "        if len(state.getActions()) == 0:\n",
        "          # Prune state and treat it as a hazard\n",
        "          toRemove.append(state.getID())\n",
        "          self.hazards.append(state.getID())\n",
        "          # Remove redundant hazards\n",
        "          self.hazards = list(set(self.hazards))\n",
        "          newStates = 1\n",
        "      for id in toRemove:\n",
        "        idx = self.safeSG.ids.index(id)\n",
        "        self.safeSG.remove(self.safeSG.states[idx])\n",
        "\n",
        "  # Method to calculate MECs of safe subgraph\n",
        "  def calcMECs(self):\n",
        "    # Iterate while more actions are being pruned\n",
        "    newStates = 1\n",
        "    while newStates != 0:\n",
        "      newStates = 0\n",
        "      # Create graph to perform SCC calculations\n",
        "      self.G = Graph(25)\n",
        "      # Loop through safe states\n",
        "      for state in self.safeSG.states:\n",
        "        # Loop through safe actions\n",
        "        next = []\n",
        "        for action in state.getActions():\n",
        "          # Get reachable states\n",
        "            next.append(list(state.getNext(action)))\n",
        "        # Remove redundant reachable states\n",
        "        next = [n for sublist in next for n in sublist]\n",
        "        next = list(set(next))\n",
        "        # Loop through reachable states\n",
        "        for ns in next:\n",
        "          # Add a graph edge\n",
        "          self.G.addEdge(state.getID(),ns)\n",
        "      # Calculate SCCs\n",
        "      self.G.SCC()\n",
        "      self.sccs = self.G.sccs\n",
        "      # Loop through potential SCCs and filter out extraneous ones\n",
        "      toRemove = []\n",
        "      for scc in self.sccs:\n",
        "        if not (set(scc).isdisjoint(self.hazards)):\n",
        "            # Remove action\n",
        "            toRemove.append(scc)\n",
        "      for el in toRemove:\n",
        "        self.sccs.remove(el)\n",
        "      toRemove = []\n",
        "      # Loop through states in subgraph and remove states/transitions not in SCCs\n",
        "      sccStates = [i for sublist in self.sccs for i in sublist]\n",
        "      toRemove = []\n",
        "      indicator = 1\n",
        "      # Loop while new states are being removed\n",
        "      while indicator != 0:\n",
        "        indicator = 0\n",
        "        for state in self.safeSG.states:\n",
        "          # Remove states not in SCCs\n",
        "          if state.getID() not in sccStates:\n",
        "            toRemove.append(state)\n",
        "          else:\n",
        "            # Prune actions which lead out of the SCC\n",
        "            for scc in self.sccs:\n",
        "              toRemoveAct = []\n",
        "              if state.getID() in scc:\n",
        "                for action in state.getActions():\n",
        "                  for ns in state.getNext(action):\n",
        "                    if ns not in scc:\n",
        "                      toRemoveAct.append(action)\n",
        "                      break\n",
        "              # Remove redundancies\n",
        "              toRemoveAct = list(set(toRemoveAct))\n",
        "              for act in toRemoveAct:\n",
        "                newStates=1\n",
        "                state.remove(act)\n",
        "          # Remove states with no actions remaining\n",
        "          if len(state.getActions())==0:\n",
        "            toRemove.append(state)\n",
        "        # Remove redundancies\n",
        "        toRemove = list(set(toRemove))\n",
        "        for i in toRemove:\n",
        "          newStates = 1\n",
        "          indicator = 1\n",
        "          self.safeSG.remove(i)\n",
        "        toRemove = []\n",
        "      # Assign results\n",
        "      self.mecs = copy.deepcopy(self.sccs)\n",
        "\n",
        "  # Method to calculate optimal safe cycle\n",
        "  def calcOptimalMEC(self):\n",
        "    self.reachProbs = []\n",
        "    toRemove = []\n",
        "    # Loop through MECs\n",
        "    for mec in self.mecs:\n",
        "      # Create a copy of the state space to manipulate\n",
        "      self.tempG = copy.deepcopy(self.s)\n",
        "      # Loop through states and reassign probability of satisfaction (1 and absorbing if in MEC, 0 otherwise)\n",
        "      for state in self.tempG.states:\n",
        "        if state.getID() in mec:\n",
        "          state.actions = ['s']\n",
        "          state.lower = [{state.getID():1}]\n",
        "          state.upper = [{state.getID():1}]\n",
        "          state.setPSat(1)\n",
        "          state.setStateType('a')\n",
        "        else:\n",
        "          state.setPSat(0)\n",
        "          state.setStateType('u')\n",
        "      # Calculate reachability probabilities from initial state\n",
        "      self.tempG.valueIterationMin()\n",
        "      # Look for reachability probability of 1\n",
        "      psat = self.tempG.states[self.initState].getPSat()\n",
        "      self.reachProbs.append(psat)\n",
        "      if psat < 1:\n",
        "        toRemove.append(mec)\n",
        "    # Check to see if there are any reachable MECs\n",
        "    if len(self.mecs) - len(toRemove) > 0:\n",
        "      for tr in toRemove:\n",
        "        self.mecs.remove(tr)\n",
        "      self.scores = []\n",
        "      for mec in self.mecs:\n",
        "        # Calculate covariance scores for each remaining MEC\n",
        "        tempScore = 0\n",
        "        for id in mec:\n",
        "          tempScore = tempScore + self.gpX.correlation(self.getCenter(id),self.getCenter(self.goals[0]))\n",
        "        self.scores.append(tempScore)\n",
        "      # Select MEC with the highest score\n",
        "      self.optimalMEC = self.mecs[np.argmax(self.scores)]\n",
        "    else:\n",
        "      # Optimal MEC is immediately the one with the highest Psat if none are guaranteed to be reachable\n",
        "      self.optimalMEC = self.mecs[np.argmax(self.reachProbs)]\n",
        "\n",
        "  # Method to synthesize control policy given calculated optimal MEC\n",
        "  def synthesize(self):\n",
        "    self.policy = {}\n",
        "    # Perform reachability calculations to optimal MEC\n",
        "    # Create a copy of the state space to manipulate\n",
        "    self.tempG = copy.deepcopy(self.s)\n",
        "    # Loop through states and reassign probability of satisfaction (1 and absorbing if in MEC, 0 otherwise)\n",
        "    for state in self.tempG.states:\n",
        "      if state.getID() in self.optimalMEC:\n",
        "        state.actions = ['s']\n",
        "        state.lower = [{state.getID():1}]\n",
        "        state.upper = [{state.getID():1}]\n",
        "        state.setPSat(1)\n",
        "        state.setStateType('a')\n",
        "      else:\n",
        "        state.setPSat(0)\n",
        "        state.setStateType('u')\n",
        "    # Calculate reachability probabilities from initial state\n",
        "    self.tempG.valueIterationMin()\n",
        "    # Loop through states\n",
        "    for state in self.s.states:\n",
        "      # Check if state is in MEC\n",
        "      if state.getID() in self.optimalMEC:\n",
        "        # Append all valid actions in MEC\n",
        "        idx = self.safeSG.ids.index(state.getID())\n",
        "        self.policy[state.getID()]=(self.safeSG.states[idx].getActions())\n",
        "      else:\n",
        "        # Append optimal action\n",
        "        idx = self.tempG.ids.index(state.getID())\n",
        "        self.policy[state.getID()]=(self.tempG.states[idx].getOptAct())\n",
        "        \n",
        "  # Method to calculate total transition uncertainty\n",
        "  def calcUncertainty(self):\n",
        "    # Loop through states\n",
        "    tempUncertainty = 0\n",
        "    for state in self.s.states:\n",
        "      # Loop through actions\n",
        "      for idx in range(len(state.actions)):\n",
        "        # Extract lower and upper transition probabilities\n",
        "        tempLower = state.lower[idx]\n",
        "        tempUpper = state.upper[idx]\n",
        "        tempLower = np.asarray(list(tempLower.values()))\n",
        "        tempUpper = np.asarray(list(tempUpper.values()))\n",
        "        # Sum and append to array\n",
        "        tempUncertainty = tempUncertainty + np.sum(tempUpper-tempLower)\n",
        "    tempUncertainty = tempUncertainty.reshape(-1,1)\n",
        "    self.uncertainty=np.append(self.uncertainty,tempUncertainty,axis=1)\n",
        "\n",
        "  # Method to calculate error between unknown dynamics and GP\n",
        "  def calcError(self):\n",
        "    # Loop through states\n",
        "    tempError = 0\n",
        "    for state in self.s.states:\n",
        "      # Extract estimated and true dynamics and calculate error\n",
        "      errorX = np.abs(self.gpX.calcMean(self.getCenter(state.getID()))-self.g2(self.getCenter(state.getID()))[0])\n",
        "      errorY = np.abs(self.gpY.calcMean(self.getCenter(state.getID()))-self.g2(self.getCenter(state.getID()))[1])\n",
        "      tempError = tempError + errorX + errorY\n",
        "    # Append error to history vector\n",
        "    self.errors = np.append(self.errors,np.asarray(tempError).reshape(-1,1))\n",
        "      \n",
        "  # Final method to run entire algorithm\n",
        "  def run(self):\n",
        "    # Construct states\n",
        "    self.makeStates()\n",
        "    # Calculate uncertainty\n",
        "    self.calcUncertainty()\n",
        "    # Calculate error\n",
        "    self.calcError()\n",
        "    # Perform min reachability probability value iteration\n",
        "    self.s.valueIterationMin()\n",
        "    # Calculate probability of satisfaction from initial state\n",
        "    psat = self.s.states[self.initState].getPSat()\n",
        "    self.psats = np.append(self.psats,psat.reshape(-1,1),axis=1)\n",
        "    print(\"P_sat: \" + str(psat))\n",
        "    numIterOut = 35\n",
        "    numIterIn = 250\n",
        "    counterOut = 0\n",
        "    # Iterate while successful control policy has not been calculated and max number of iterations has not been reached\n",
        "    while (counterOut < numIterOut) and (psat<self.Psat):\n",
        "      print([\"Iteration: \" + str(counterOut)])\n",
        "      # Calculate safe subgraph\n",
        "      self.pruneGraph()\n",
        "      # Calculate optimal MEC\n",
        "      self.calcMECs()\n",
        "      self.calcOptimalMEC()\n",
        "      print(self.optimalMEC)\n",
        "      # Synthesize control policy\n",
        "      self.synthesize()\n",
        "      print(\"Policy:\")\n",
        "      print(self.policy)\n",
        "      # Initialize finite memory controller\n",
        "      tracker = np.zeros((25))\n",
        "      # Follow control policy for max number of iterations\n",
        "      counterIn = 0\n",
        "      while counterIn < numIterIn:\n",
        "        # Step in the state space\n",
        "        self.currState = self.getRegion()\n",
        "        # Calculate action using finite memory controller\n",
        "        action = self.policy[self.currState][int(tracker[self.currState]%len(self.policy[self.currState]))]\n",
        "        tracker[self.currState]=tracker[self.currState]+1\n",
        "        # Calculate desired next state based on action\n",
        "        if action == 'l':\n",
        "          desired = self.currState-1\n",
        "        elif action == 'd':\n",
        "          desired = self.currState-5\n",
        "        elif action == \"u\":\n",
        "          desired = self.currState+5\n",
        "        elif action == \"r\":\n",
        "          desired = self.currState+1\n",
        "        elif action == \"s\":\n",
        "          desired = self.currState\n",
        "        self.step(desired)\n",
        "        #print(self.currentPos)\n",
        "        #print(desired)\n",
        "        #print(self.getRegion())\n",
        "        counterIn = counterIn + 1\n",
        "      # Train Gaussian Process\n",
        "      self.train()\n",
        "      # Reconstruct transition probabilities\n",
        "      self.makeStates()\n",
        "      # Calculate uncertainty\n",
        "      self.calcUncertainty()\n",
        "      # Calculate error\n",
        "      self.calcError()\n",
        "      self.s.valueIterationMin()\n",
        "      # Calculate new probability of satisfying the specification\n",
        "      psat = self.s.states[self.initState].getPSat()\n",
        "      self.psats = np.append(self.psats,psat.reshape(-1,1),axis=1)\n",
        "      print(\"P_sat: \" + str(psat))\n",
        "      self.s.getOptActs()\n",
        "      print(\"Optimal Actions:\")\n",
        "      print(self.s.optActs)\n",
        "      counterOut = counterOut + 1\n",
        "    print([\"Iteration: \" + str(counterOut)])\n",
        "    # Calculate safe subgraph\n",
        "    self.pruneGraph()\n",
        "    # Calculate optimal MEC\n",
        "    self.calcMECs()\n",
        "    self.calcOptimalMEC()\n",
        "    print(self.optimalMEC)\n",
        "    \n",
        "    for state in self.s.states:\n",
        "      print(\"Estimated g(x): \" + str(self.gpX.calcMean(self.getCenter(state.getID()))))\n",
        "      print(\"Estimated x uncertainty: \" + str(math.sqrt(self.stdx(state.getID()))*2))\n",
        "      print(\"Estimated g(y): \" + str(self.gpY.calcMean(self.getCenter(state.getID()))))\n",
        "      print(\"Estimated y uncertainty: \" + str(math.sqrt(self.stdy(state.getID()))*2))\n",
        "      print(\"Actual g(x): \" + str(self.g2(self.getCenter(state.getID()))[0]))\n",
        "      print(\"Actual g(y): \" + str(self.g2(self.getCenter(state.getID()))[1]))\n",
        "      state.getInfo()\n",
        "    return counterOut"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 8,
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "id": "VdAxj2yMa91H",
        "outputId": "5794f89d-8e7f-47a4-cdae-3ab53ccca71c"
      },
      "outputs": [
        {
          "name": "stdout",
          "output_type": "stream",
          "text": [
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[21, 20, 16, 15, 6, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l'], 12: ['l'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l'], 17: ['l'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 4']\n",
            "[22, 5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 22, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.2951461126064633\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.7897027689855772\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.846026367474277\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8729841825622615\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 9']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8961398929190992\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 10']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9967121041737536\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 11']\n",
            "[12, 5, 10, 15, 20, 21, 22, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['u'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l', 'd'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 12']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 1, 0]\n",
            "Estimated g(x): [[0.10627971]]\n",
            "Estimated x uncertainty: 0.06864634136420462\n",
            "Estimated g(y): [[0.0113022]]\n",
            "Estimated y uncertainty: 0.06865451287955218\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.10523824]]\n",
            "Estimated x uncertainty: 0.09062004455659062\n",
            "Estimated g(y): [[-0.08613081]]\n",
            "Estimated y uncertainty: 0.0906652497928156\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.39933145]]\n",
            "Estimated x uncertainty: 0.33373204311027865\n",
            "Estimated g(y): [[-0.26777198]]\n",
            "Estimated y uncertainty: 0.33382411574487203\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 0.0, 5: 0.0, 1: 0.947314604809191, 6: 0.0, 2: 0.0, 7: 0.0}\n",
            "Upper Transitions: \n",
            "{0: 0.026650782737352132, 5: 0.0007128405590128654, 1: 1.0, 6: 0.026747453012469724, 2: 0.026650782737352108, 7: 0.0007128405590128647}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.947314604809191, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.026650782737352132, 7: 0.0007128405590128654, 3: 1.0, 8: 0.026747453012469724, 4: 0.026650782737352108, 9: 0.0007128405590128647}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 11: 0.0, 2: 0.0, 7: 0.947314604809191, 12: 0.0, 3: 0.0, 8: 0.0, 13: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.0007128405590128634, 6: 0.026650782737352132, 11: 0.0007128405590128654, 2: 0.026747453012469648, 7: 1.0, 12: 0.026747453012469724, 3: 0.0007128405590128628, 8: 0.026650782737352108, 13: 0.0007128405590128647}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.83325907]]\n",
            "Estimated x uncertainty: 0.6240343648607751\n",
            "Estimated g(y): [[-0.15244915]]\n",
            "Estimated y uncertainty: 0.6241600831053228\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.007847947540065462, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.911289629504677, 6: 0.8306704959555116, 2: 1.0, 7: 0.9115329189107692, 3: 0.9112896295046768, 8: 0.8306704959555115}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.007847947540065462, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.911289629504677, 8: 0.8306704959555116, 4: 1.0, 9: 0.9115329189107692}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.007847947540065462, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.8306704959555117, 7: 0.911289629504677, 12: 0.8306704959555116, 3: 0.9115329189107693, 8: 1.0, 13: 0.9115329189107692, 4: 0.8306704959555116, 9: 0.9112896295046768, 14: 0.8306704959555115}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.00606037]]\n",
            "Estimated x uncertainty: 0.8098645090009686\n",
            "Estimated g(y): [[0.00535145]]\n",
            "Estimated y uncertainty: 0.8099481555212229\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.11970599]]\n",
            "Estimated x uncertainty: 0.049713465061609396\n",
            "Estimated g(y): [[-0.07694431]]\n",
            "Estimated y uncertainty: 0.049714155414945296\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.20083215]]\n",
            "Estimated x uncertainty: 0.04012274281285104\n",
            "Estimated g(y): [[0.17718005]]\n",
            "Estimated y uncertainty: 0.0401194429693859\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.03175118]]\n",
            "Estimated x uncertainty: 0.20847745369647294\n",
            "Estimated g(y): [[0.50941349]]\n",
            "Estimated y uncertainty: 0.20850012330731613\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.53574311]]\n",
            "Estimated x uncertainty: 0.4736783504483398\n",
            "Estimated g(y): [[0.64216283]]\n",
            "Estimated y uncertainty: 0.4737088797878342\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.94442938]]\n",
            "Estimated x uncertainty: 0.709911078301715\n",
            "Estimated g(y): [[0.312353]]\n",
            "Estimated y uncertainty: 0.7099335898423434\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19006082]]\n",
            "Estimated x uncertainty: 0.04031759274920095\n",
            "Estimated g(y): [[0.07317754]]\n",
            "Estimated y uncertainty: 0.04031667045799304\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.11059545]]\n",
            "Estimated x uncertainty: 0.01833319547696317\n",
            "Estimated g(y): [[-0.14361414]]\n",
            "Estimated y uncertainty: 0.018332244450402702\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18640853]]\n",
            "Estimated x uncertainty: 0.08196717492881091\n",
            "Estimated g(y): [[0.14243764]]\n",
            "Estimated y uncertainty: 0.08196061195744038\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.03191313]]\n",
            "Estimated x uncertainty: 0.28337594623905865\n",
            "Estimated g(y): [[0.15846061]]\n",
            "Estimated y uncertainty: 0.28334531206594654\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.25791061]]\n",
            "Estimated x uncertainty: 0.5473789008415397\n",
            "Estimated g(y): [[-0.34995409]]\n",
            "Estimated y uncertainty: 0.547378489333473\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.20036312]]\n",
            "Estimated x uncertainty: 0.032306495139744235\n",
            "Estimated g(y): [[-0.16789581]]\n",
            "Estimated y uncertainty: 0.03230689066108575\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19835455]]\n",
            "Estimated x uncertainty: 0.01640189636759618\n",
            "Estimated g(y): [[-0.14391444]]\n",
            "Estimated y uncertainty: 0.016402188640151787\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.02514303]]\n",
            "Estimated x uncertainty: 0.02940104880545994\n",
            "Estimated g(y): [[0.09531743]]\n",
            "Estimated y uncertainty: 0.02940030584574136\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.24635161]]\n",
            "Estimated x uncertainty: 0.12985701070041783\n",
            "Estimated g(y): [[-0.1621536]]\n",
            "Estimated y uncertainty: 0.1298519931079999\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.40118851]]\n",
            "Estimated x uncertainty: 0.3938003416165727\n",
            "Estimated g(y): [[-0.72741268]]\n",
            "Estimated y uncertainty: 0.39376217782203266\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.110795]]\n",
            "Estimated x uncertainty: 0.08332577978826766\n",
            "Estimated g(y): [[0.1619612]]\n",
            "Estimated y uncertainty: 0.0833178012144493\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18545508]]\n",
            "Estimated x uncertainty: 0.04521883701780046\n",
            "Estimated g(y): [[0.11146715]]\n",
            "Estimated y uncertainty: 0.04521546935630914\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.17961947]]\n",
            "Estimated x uncertainty: 0.06384287523270464\n",
            "Estimated g(y): [[0.12400743]]\n",
            "Estimated y uncertainty: 0.0638463848470789\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.15999049]]\n",
            "Estimated x uncertainty: 0.14642432468058944\n",
            "Estimated g(y): [[0.06534086]]\n",
            "Estimated y uncertainty: 0.14636355781840799\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.37169019]]\n",
            "Estimated x uncertainty: 0.4041199769969526\n",
            "Estimated g(y): [[-0.05732184]]\n",
            "Estimated y uncertainty: 0.40378459001381645\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.7180845989323698, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.023286918721452665, 22: 0.15304306452989547, 18: 0.15215925525918747, 23: 1.0, 19: 0.023286918721452665, 24: 0.15304306452989547}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.7180845989323698, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.023286918721452665, 18: 0.15304306452989547, 23: 0.02328691872145267, 14: 0.15215925525918747, 19: 1.0, 24: 0.1521592552591875}\n",
            "\n",
            "\n",
            "Time Elapsed: 64.85695672035217\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[21, 20, 16, 15, 6, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l'], 12: ['l'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l'], 17: ['l'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 4']\n",
            "[22, 5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 22, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.17711033136091606\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.6908871025940663\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8221499469563338\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8616383971080579\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 9']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8807457655030176\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 10']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9064628633730936\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 11']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9162782331509097\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 12']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9268668237586414\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 13']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 14']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 1, 0]\n",
            "Estimated g(x): [[0.09351309]]\n",
            "Estimated x uncertainty: 0.06124803018521731\n",
            "Estimated g(y): [[0.00871672]]\n",
            "Estimated y uncertainty: 0.06125996412495996\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09728068]]\n",
            "Estimated x uncertainty: 0.08754011620606848\n",
            "Estimated g(y): [[-0.08266679]]\n",
            "Estimated y uncertainty: 0.08747927681735383\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.35810615]]\n",
            "Estimated x uncertainty: 0.32401997238712815\n",
            "Estimated g(y): [[-0.22423791]]\n",
            "Estimated y uncertainty: 0.3238073312172547\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 0.0, 5: 0.0, 1: 0.9659713823468199, 6: 0.0, 2: 0.0, 7: 0.0}\n",
            "Upper Transitions: \n",
            "{0: 0.01725585199818049, 5: 0.00029451038943485264, 1: 1.0, 6: 0.017067276044434476, 2: 0.01725585199818047, 7: 0.00029451038943485236}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.9659713823468199, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.01725585199818049, 7: 0.00029451038943485264, 3: 1.0, 8: 0.017067276044434476, 4: 0.01725585199818047, 9: 0.00029451038943485236}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 11: 0.0, 2: 0.0, 7: 0.9659713823468199, 12: 0.0, 3: 0.0, 8: 0.0, 13: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.0002945103894348536, 6: 0.01725585199818049, 11: 0.00029451038943485264, 2: 0.01706727604443453, 7: 1.0, 12: 0.017067276044434476, 3: 0.0002945103894348533, 8: 0.01725585199818047, 13: 0.00029451038943485236}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.78911505]]\n",
            "Estimated x uncertainty: 0.6139974460110539\n",
            "Estimated g(y): [[-0.06524317]]\n",
            "Estimated y uncertainty: 0.6137440191034894\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.012023456109999652, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.890625073112996, 6: 0.7927197141626559, 2: 1.0, 7: 0.8900711849396602, 3: 0.890625073112996, 8: 0.7927197141626559}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.012023456109999652, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.890625073112996, 8: 0.7927197141626559, 4: 1.0, 9: 0.8900711849396602}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.012023456109999652, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.7927197141626559, 7: 0.890625073112996, 12: 0.7927197141626559, 3: 0.8900711849396602, 8: 1.0, 13: 0.8900711849396602, 4: 0.7927197141626559, 9: 0.890625073112996, 14: 0.7927197141626559}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.00474382]]\n",
            "Estimated x uncertainty: 0.8051996642514051\n",
            "Estimated g(y): [[0.11697136]]\n",
            "Estimated y uncertainty: 0.8050474431755181\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10889555]]\n",
            "Estimated x uncertainty: 0.046894043107518456\n",
            "Estimated g(y): [[-0.08104871]]\n",
            "Estimated y uncertainty: 0.04690462851155456\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18911082]]\n",
            "Estimated x uncertainty: 0.03784854997095619\n",
            "Estimated g(y): [[0.17446606]]\n",
            "Estimated y uncertainty: 0.0378588013182337\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.01941229]]\n",
            "Estimated x uncertainty: 0.19986836336815972\n",
            "Estimated g(y): [[0.53654111]]\n",
            "Estimated y uncertainty: 0.19988010388315333\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.55786962]]\n",
            "Estimated x uncertainty: 0.4641101584103556\n",
            "Estimated g(y): [[0.74823765]]\n",
            "Estimated y uncertainty: 0.4640580959959802\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.99516729]]\n",
            "Estimated x uncertainty: 0.7070133100581865\n",
            "Estimated g(y): [[0.52467889]]\n",
            "Estimated y uncertainty: 0.7070167889542134\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19811487]]\n",
            "Estimated x uncertainty: 0.03769946665050586\n",
            "Estimated g(y): [[0.06575692]]\n",
            "Estimated y uncertainty: 0.03770367897117063\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10724942]]\n",
            "Estimated x uncertainty: 0.017124921695745584\n",
            "Estimated g(y): [[-0.16646234]]\n",
            "Estimated y uncertainty: 0.017126053593828783\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.17557376]]\n",
            "Estimated x uncertainty: 0.07623420128355822\n",
            "Estimated g(y): [[0.14548192]]\n",
            "Estimated y uncertainty: 0.0762300967843376\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.02433174]]\n",
            "Estimated x uncertainty: 0.285152465442687\n",
            "Estimated g(y): [[0.27137637]]\n",
            "Estimated y uncertainty: 0.28521403775560933\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.27575749]]\n",
            "Estimated x uncertainty: 0.5571717574690116\n",
            "Estimated g(y): [[-0.07826883]]\n",
            "Estimated y uncertainty: 0.5574267914930897\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.20025372]]\n",
            "Estimated x uncertainty: 0.03236782186413259\n",
            "Estimated g(y): [[-0.16386557]]\n",
            "Estimated y uncertainty: 0.03236922919450326\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19927318]]\n",
            "Estimated x uncertainty: 0.015374588839471789\n",
            "Estimated g(y): [[-0.13870548]]\n",
            "Estimated y uncertainty: 0.015377993240269394\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.01471439]]\n",
            "Estimated x uncertainty: 0.03295219742126849\n",
            "Estimated g(y): [[0.10009707]]\n",
            "Estimated y uncertainty: 0.03294320453443762\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.28859468]]\n",
            "Estimated x uncertainty: 0.15474999036015008\n",
            "Estimated g(y): [[-0.12535609]]\n",
            "Estimated y uncertainty: 0.1548189817162876\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.45653956]]\n",
            "Estimated x uncertainty: 0.4166309189304521\n",
            "Estimated g(y): [[-0.61390517]]\n",
            "Estimated y uncertainty: 0.41685062911769055\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.10115831]]\n",
            "Estimated x uncertainty: 0.07837410960970113\n",
            "Estimated g(y): [[0.16367015]]\n",
            "Estimated y uncertainty: 0.0783577588905657\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19131687]]\n",
            "Estimated x uncertainty: 0.04098320443703808\n",
            "Estimated g(y): [[0.10190106]]\n",
            "Estimated y uncertainty: 0.0409909465406283\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.17518961]]\n",
            "Estimated x uncertainty: 0.06371185891690327\n",
            "Estimated g(y): [[0.11710138]]\n",
            "Estimated y uncertainty: 0.06370719131626257\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.12533181]]\n",
            "Estimated x uncertainty: 0.16881804959471464\n",
            "Estimated g(y): [[0.0199954]]\n",
            "Estimated y uncertainty: 0.16883924518979945\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.44118536]]\n",
            "Estimated x uncertainty: 0.4262948474708279\n",
            "Estimated g(y): [[-0.1684813]]\n",
            "Estimated y uncertainty: 0.426459476540151\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.611581505871408, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.04750788265786227, 22: 0.21770082094257973, 18: 0.2182255558438746, 23: 1.0, 19: 0.04750788265786227, 24: 0.2177008209425797}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.611581505871408, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.04750788265786227, 18: 0.21770082094257973, 23: 0.04750788265786227, 14: 0.2182255558438746, 19: 1.0, 24: 0.2182255558438746}\n",
            "\n",
            "\n",
            "Time Elapsed: 66.6898672580719\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[6, 15, 20, 21, 16, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.025884776700131847\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'd'], ['l'], ['l'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[21, 20, 5, 10, 15, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.7455178436315112\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8401422596599603\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 4']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8728389186528062\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8907185618452313\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9057252291412369\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9218623407873736\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9343777437043864\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 9']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9423824248132224\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 10']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9478212980757414\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 11']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9530321224818546\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 12']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 13']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 1, 0]\n",
            "Estimated g(x): [[0.09962971]]\n",
            "Estimated x uncertainty: 0.06278309765899083\n",
            "Estimated g(y): [[0.00910598]]\n",
            "Estimated y uncertainty: 0.06278733444274374\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09849283]]\n",
            "Estimated x uncertainty: 0.09078596666574043\n",
            "Estimated g(y): [[-0.07192792]]\n",
            "Estimated y uncertainty: 0.09073478525806306\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.4890224]]\n",
            "Estimated x uncertainty: 0.3139052019070289\n",
            "Estimated g(y): [[-0.436073]]\n",
            "Estimated y uncertainty: 0.3137739858426607\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 0.0, 5: 0.0, 1: 0.9821041320685789, 6: 0.0, 2: 0.0, 7: 0.0}\n",
            "Upper Transitions: \n",
            "{0: 0.00903680667444988, 5: 8.078768660185442e-05, 1: 1.0, 6: 0.008939848943573026, 2: 0.009036806674449838, 7: 8.078768660185405e-05}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.9821041320685789, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.00903680667444988, 7: 8.078768660185442e-05, 3: 1.0, 8: 0.008939848943573026, 4: 0.009036806674449838, 9: 8.078768660185405e-05}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 11: 0.0, 2: 0.0, 7: 0.9821041320685789, 12: 0.0, 3: 0.0, 8: 0.0, 13: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 8.078768660185486e-05, 6: 0.00903680667444988, 11: 8.078768660185442e-05, 2: 0.008939848943573074, 7: 1.0, 12: 0.008939848943573026, 3: 8.078768660185448e-05, 8: 0.009036806674449838, 13: 8.078768660185405e-05}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.04857727]]\n",
            "Estimated x uncertainty: 0.5998840831040984\n",
            "Estimated g(y): [[-0.61177083]]\n",
            "Estimated y uncertainty: 0.5996465933520604\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.020443009399209195, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.8573223602378944, 6: 0.7344842680342528, 2: 1.0, 7: 0.8567188983971492, 3: 0.8573223602378944, 8: 0.7344842680342528}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.020443009399209195, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.8573223602378944, 8: 0.7344842680342528, 4: 1.0, 9: 0.8567188983971492}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.020443009399209195, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.7344842680342528, 7: 0.8573223602378944, 12: 0.7344842680342528, 3: 0.8567188983971492, 8: 1.0, 13: 0.8567188983971492, 4: 0.7344842680342528, 9: 0.8573223602378944, 14: 0.7344842680342528}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.24650601]]\n",
            "Estimated x uncertainty: 0.7981830467599332\n",
            "Estimated g(y): [[-0.47958327]]\n",
            "Estimated y uncertainty: 0.7979619538070374\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.1147439]]\n",
            "Estimated x uncertainty: 0.048996221768575925\n",
            "Estimated g(y): [[-0.05647734]]\n",
            "Estimated y uncertainty: 0.048995448090787985\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19456667]]\n",
            "Estimated x uncertainty: 0.03385385427989185\n",
            "Estimated g(y): [[0.16084858]]\n",
            "Estimated y uncertainty: 0.03385500428254427\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.00874243]]\n",
            "Estimated x uncertainty: 0.18403649741834033\n",
            "Estimated g(y): [[0.39096534]]\n",
            "Estimated y uncertainty: 0.18403325406996063\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.62590869]]\n",
            "Estimated x uncertainty: 0.44946186336411775\n",
            "Estimated g(y): [[0.40060719]]\n",
            "Estimated y uncertainty: 0.4493580264754976\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.04778684]]\n",
            "Estimated x uncertainty: 0.702435073051184\n",
            "Estimated g(y): [[0.13028012]]\n",
            "Estimated y uncertainty: 0.7022442156850776\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19729859]]\n",
            "Estimated x uncertainty: 0.039282763566732666\n",
            "Estimated g(y): [[0.0677167]]\n",
            "Estimated y uncertainty: 0.03927926037482159\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.09757599]]\n",
            "Estimated x uncertainty: 0.01681704692422089\n",
            "Estimated g(y): [[-0.14645172]]\n",
            "Estimated y uncertainty: 0.01681670010528898\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18986246]]\n",
            "Estimated x uncertainty: 0.0700757460050113\n",
            "Estimated g(y): [[0.16103059]]\n",
            "Estimated y uncertainty: 0.07008078466535264\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.07406321]]\n",
            "Estimated x uncertainty: 0.28270107851945464\n",
            "Estimated g(y): [[0.22536733]]\n",
            "Estimated y uncertainty: 0.2826219317936176\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.18825895]]\n",
            "Estimated x uncertainty: 0.5635305868572201\n",
            "Estimated g(y): [[-0.18836216]]\n",
            "Estimated y uncertainty: 0.5632334723199092\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.1869244]]\n",
            "Estimated x uncertainty: 0.03278606861471212\n",
            "Estimated g(y): [[-0.16443681]]\n",
            "Estimated y uncertainty: 0.03279097072784761\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19521975]]\n",
            "Estimated x uncertainty: 0.015528820522370607\n",
            "Estimated g(y): [[-0.13661626]]\n",
            "Estimated y uncertainty: 0.015528927816329583\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.01246715]]\n",
            "Estimated x uncertainty: 0.030926849288714087\n",
            "Estimated g(y): [[0.09795281]]\n",
            "Estimated y uncertainty: 0.030932237825206647\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.31013196]]\n",
            "Estimated x uncertainty: 0.15999906763232893\n",
            "Estimated g(y): [[-0.11198493]]\n",
            "Estimated y uncertainty: 0.15990528391483266\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.53017827]]\n",
            "Estimated x uncertainty: 0.42759853164010736\n",
            "Estimated g(y): [[-0.6165399]]\n",
            "Estimated y uncertainty: 0.42712799203702595\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.0945259]]\n",
            "Estimated x uncertainty: 0.08204694399096665\n",
            "Estimated g(y): [[0.16340991]]\n",
            "Estimated y uncertainty: 0.0820357097993054\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18943128]]\n",
            "Estimated x uncertainty: 0.04498460808736067\n",
            "Estimated g(y): [[0.10352188]]\n",
            "Estimated y uncertainty: 0.04497189245349527\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.18934922]]\n",
            "Estimated x uncertainty: 0.06126037146493928\n",
            "Estimated g(y): [[0.10250272]]\n",
            "Estimated y uncertainty: 0.061257758828835676\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.13395119]]\n",
            "Estimated x uncertainty: 0.1502503669862996\n",
            "Estimated g(y): [[0.05047907]]\n",
            "Estimated y uncertainty: 0.1502442940236762\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.48147726]]\n",
            "Estimated x uncertainty: 0.39962372317786315\n",
            "Estimated g(y): [[-0.10733063]]\n",
            "Estimated y uncertainty: 0.3995912352532568\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.7372102557963602, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.019991274444466196, 22: 0.1414315269899649, 18: 0.14134949165814106, 23: 1.0, 19: 0.01999127444446619, 24: 0.14143152698996486}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.7372102557963602, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.019991274444466196, 18: 0.1414315269899649, 23: 0.01999127444446619, 14: 0.14134949165814106, 19: 1.0, 24: 0.14134949165814104}\n",
            "\n",
            "\n",
            "Time Elapsed: 63.42935395240784\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[6, 15, 20, 21, 16, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.044688604945918475\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.7236600823342114\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8042216334835476\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 4']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8482264692444782\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.880171150347035\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8971296880322892\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9118866124685714\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.919802019206522\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 9']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9301312687495078\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 10']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9375449273559768\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 11']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9428479088623731\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 12']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9502049783394875\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 13']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 14']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 1, 0]\n",
            "Estimated g(x): [[0.0862396]]\n",
            "Estimated x uncertainty: 0.05963749818696002\n",
            "Estimated g(y): [[-0.00784732]]\n",
            "Estimated y uncertainty: 0.059635041610343796\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.07982586]]\n",
            "Estimated x uncertainty: 0.08047955357208916\n",
            "Estimated g(y): [[-0.07737334]]\n",
            "Estimated y uncertainty: 0.08046383161073335\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.30690097]]\n",
            "Estimated x uncertainty: 0.30375057895938223\n",
            "Estimated g(y): [[-0.4342388]]\n",
            "Estimated y uncertainty: 0.3036851843428583\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 0.0, 5: 0.0, 1: 0.9956394363139833, 6: 0.0, 2: 0.0, 7: 0.0}\n",
            "Upper Transitions: \n",
            "{0: 0.0022025726927932415, 5: 4.763624261685313e-06, 1: 1.0, 6: 0.002162754617485163, 2: 0.0022025726927932254, 7: 4.763624261685278e-06}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.9956394363139833, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.0022025726927932415, 7: 4.763624261685313e-06, 3: 1.0, 8: 0.002162754617485163, 4: 0.0022025726927932254, 9: 4.763624261685278e-06}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 11: 0.0, 2: 0.0, 7: 0.9956394363139833, 12: 0.0, 3: 0.0, 8: 0.0, 13: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 4.763624261685312e-06, 6: 0.0022025726927932415, 11: 4.763624261685313e-06, 2: 0.0021627546174851626, 7: 1.0, 12: 0.002162754617485163, 3: 4.763624261685277e-06, 8: 0.0022025726927932254, 13: 4.763624261685278e-06}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.68592756]]\n",
            "Estimated x uncertainty: 0.5933559288824161\n",
            "Estimated g(y): [[-0.49048757]]\n",
            "Estimated y uncertainty: 0.5931381885770256\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.025625648125406707, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.8402141989333008, 6: 0.7054648453105244, 2: 1.0, 7: 0.8396249982518169, 3: 0.840214198933301, 8: 0.7054648453105246}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.025625648125406707, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.8402141989333008, 8: 0.7054648453105244, 4: 1.0, 9: 0.8396249982518169}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.025625648125406707, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.7054648453105244, 7: 0.8402141989333008, 12: 0.7054648453105244, 3: 0.8396249982518169, 8: 1.0, 13: 0.8396249982518169, 4: 0.7054648453105246, 9: 0.840214198933301, 14: 0.7054648453105246}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.8577769]]\n",
            "Estimated x uncertainty: 0.795708875120399\n",
            "Estimated g(y): [[-0.29270997]]\n",
            "Estimated y uncertainty: 0.7954011659487538\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10658157]]\n",
            "Estimated x uncertainty: 0.047561222380408295\n",
            "Estimated g(y): [[-0.06936019]]\n",
            "Estimated y uncertainty: 0.047540832419034756\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19450544]]\n",
            "Estimated x uncertainty: 0.03281227044554886\n",
            "Estimated g(y): [[0.16725222]]\n",
            "Estimated y uncertainty: 0.03281462505514296\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.05192675]]\n",
            "Estimated x uncertainty: 0.18289379440327092\n",
            "Estimated g(y): [[0.41283234]]\n",
            "Estimated y uncertainty: 0.1828447636339507\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.42573895]]\n",
            "Estimated x uncertainty: 0.4480992214907723\n",
            "Estimated g(y): [[0.53784733]]\n",
            "Estimated y uncertainty: 0.44782321963521593\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.74882497]]\n",
            "Estimated x uncertainty: 0.7015886757320193\n",
            "Estimated g(y): [[0.3196807]]\n",
            "Estimated y uncertainty: 0.7011310599287085\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19956868]]\n",
            "Estimated x uncertainty: 0.039061359439355285\n",
            "Estimated g(y): [[0.07961627]]\n",
            "Estimated y uncertainty: 0.03905985568232448\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10720409]]\n",
            "Estimated x uncertainty: 0.016929436668049896\n",
            "Estimated g(y): [[-0.14911392]]\n",
            "Estimated y uncertainty: 0.016929846667606364\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19013534]]\n",
            "Estimated x uncertainty: 0.07108210270754829\n",
            "Estimated g(y): [[0.16777944]]\n",
            "Estimated y uncertainty: 0.07106481893522298\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.13537122]]\n",
            "Estimated x uncertainty: 0.2833214872190832\n",
            "Estimated g(y): [[0.31959872]]\n",
            "Estimated y uncertainty: 0.2831420435160286\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.0336198]]\n",
            "Estimated x uncertainty: 0.5649922792486948\n",
            "Estimated g(y): [[-0.05000511]]\n",
            "Estimated y uncertainty: 0.564523456180434\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19720675]]\n",
            "Estimated x uncertainty: 0.03281847136594491\n",
            "Estimated g(y): [[-0.16805189]]\n",
            "Estimated y uncertainty: 0.03282181542081291\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19292638]]\n",
            "Estimated x uncertainty: 0.014679034568695197\n",
            "Estimated g(y): [[-0.13855818]]\n",
            "Estimated y uncertainty: 0.01467949365312027\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.02119225]]\n",
            "Estimated x uncertainty: 0.031116731180146514\n",
            "Estimated g(y): [[0.09842605]]\n",
            "Estimated y uncertainty: 0.031120760270427025\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.27210994]]\n",
            "Estimated x uncertainty: 0.16534812181467226\n",
            "Estimated g(y): [[-0.08217513]]\n",
            "Estimated y uncertainty: 0.16524132554445164\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.48140841]]\n",
            "Estimated x uncertainty: 0.43655345305957455\n",
            "Estimated g(y): [[-0.55072059]]\n",
            "Estimated y uncertainty: 0.4362014853112479\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.11013923]]\n",
            "Estimated x uncertainty: 0.08444966742787598\n",
            "Estimated g(y): [[0.15655716]]\n",
            "Estimated y uncertainty: 0.08439554012502254\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18069076]]\n",
            "Estimated x uncertainty: 0.04076143161968902\n",
            "Estimated g(y): [[0.10708121]]\n",
            "Estimated y uncertainty: 0.040763522969532555\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.18331745]]\n",
            "Estimated x uncertainty: 0.059581115944999936\n",
            "Estimated g(y): [[0.11045156]]\n",
            "Estimated y uncertainty: 0.05957302348021245\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.23288869]]\n",
            "Estimated x uncertainty: 0.15612580263077294\n",
            "Estimated g(y): [[0.06107464]]\n",
            "Estimated y uncertainty: 0.1562001943195658\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.24304728]]\n",
            "Estimated x uncertainty: 0.41089775245061944\n",
            "Estimated g(y): [[-0.0617919]]\n",
            "Estimated y uncertainty: 0.41123889099964545\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.6855964551835149, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.029581134430320278, 22: 0.17151227836521804, 18: 0.1724724008815873, 23: 1.0, 19: 0.02958113443032029, 24: 0.1715122783652181}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.6855964551835149, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.029581134430320278, 18: 0.17151227836521804, 23: 0.029581134430320285, 14: 0.1724724008815873, 19: 1.0, 24: 0.17247240088158733}\n",
            "\n",
            "\n",
            "Time Elapsed: 75.08201599121094\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.015825355187618354\n",
            "Optimal Actions:\n",
            "[['u'], ['l'], ['l'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'd'], ['r'], ['r'], ['s'], ['u', 'd'], ['l'], ['l'], ['l', 'r', 'u', 'd'], ['s'], ['d'], ['l'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[6, 21, 20, 15, 16, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l'], 17: ['l'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.05575297454600649\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['l'], ['s'], ['r', 'd'], ['l', 'd'], ['l'], ['l'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[12, 22, 21, 20, 15, 5, 10, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.6899945190330338\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l', 'd']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.7836321972320368\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 4']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.845742152356855\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8761177926883201\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8964279478617665\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9054883235309484\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9244624575606554\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 9']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 2, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'r', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9543664542414848\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 10']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 2, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'r', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9610248094062308\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 11']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 2, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'r', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9665447684797686\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 12']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 2, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'r', 'u'], 2: ['l'], 3: ['l'], 4: ['l'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.971359584934014\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 13']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 2, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'r', 'u'], 2: ['l'], 3: ['l'], 4: ['l'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 14']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 2, 1, 0]\n",
            "Estimated g(x): [[0.0957121]]\n",
            "Estimated x uncertainty: 0.05745482683442486\n",
            "Estimated g(y): [[-0.00752919]]\n",
            "Estimated y uncertainty: 0.05746211081952376\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.08933505]]\n",
            "Estimated x uncertainty: 0.060623959651216246\n",
            "Estimated g(y): [[-0.06838208]]\n",
            "Estimated y uncertainty: 0.06061823425384701\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.06014922]]\n",
            "Estimated x uncertainty: 0.126710702257777\n",
            "Estimated g(y): [[-0.18175317]]\n",
            "Estimated y uncertainty: 0.12670247628580572\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 1.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.25747958]]\n",
            "Estimated x uncertainty: 0.3894256619904886\n",
            "Estimated g(y): [[0.1156468]]\n",
            "Estimated y uncertainty: 0.3893705648991066\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.7798137313278536, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.11699183126241586, 6: 0.013672473977131465, 2: 1.0, 7: 0.116866911386862, 3: 0.11699183126241586, 8: 0.013672473977131465}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.7798137313278536, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.11699183126241586, 8: 0.013672473977131465, 4: 1.0, 9: 0.116866911386862}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.7798137313278536, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.013672473977131465, 7: 0.11699183126241586, 12: 0.013672473977131465, 3: 0.116866911386862, 8: 1.0, 13: 0.116866911386862, 4: 0.013672473977131465, 9: 0.11699183126241586, 14: 0.013672473977131465}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.27096538]]\n",
            "Estimated x uncertainty: 0.6910480472705304\n",
            "Estimated g(y): [[0.44371843]]\n",
            "Estimated y uncertainty: 0.6909805157153347\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 3.0916231307592776e-05, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.9944624843873335, 7: 0.9889103497579129, 3: 1.0, 8: 0.9944169491392718, 4: 0.9944624843873335, 9: 0.9889103497579129}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 3.0916231307592776e-05, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.988910349757913, 8: 0.9944624843873335, 13: 0.9889103497579129, 4: 0.9944169491392719, 9: 1.0, 14: 0.9944169491392718}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.13560706]]\n",
            "Estimated x uncertainty: 0.04850354335663299\n",
            "Estimated g(y): [[-0.05332702]]\n",
            "Estimated y uncertainty: 0.04852241610848285\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18005381]]\n",
            "Estimated x uncertainty: 0.020996068755838506\n",
            "Estimated g(y): [[0.14883919]]\n",
            "Estimated y uncertainty: 0.020996928520937715\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.05796559]]\n",
            "Estimated x uncertainty: 0.09115025751333893\n",
            "Estimated g(y): [[0.30977075]]\n",
            "Estimated y uncertainty: 0.09112483504339564\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.24008618]]\n",
            "Estimated x uncertainty: 0.3479862691821677\n",
            "Estimated g(y): [[0.45379625]]\n",
            "Estimated y uncertainty: 0.3478911609971725\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.39103342]]\n",
            "Estimated x uncertainty: 0.6525893686083478\n",
            "Estimated g(y): [[0.38691262]]\n",
            "Estimated y uncertainty: 0.6524880379244979\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19440998]]\n",
            "Estimated x uncertainty: 0.03923994058125746\n",
            "Estimated g(y): [[0.05835304]]\n",
            "Estimated y uncertainty: 0.03923548808891725\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.11228687]]\n",
            "Estimated x uncertainty: 0.01689854566698401\n",
            "Estimated g(y): [[-0.14152373]]\n",
            "Estimated y uncertainty: 0.016897921851273638\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18532895]]\n",
            "Estimated x uncertainty: 0.06036982362346359\n",
            "Estimated g(y): [[0.14537978]]\n",
            "Estimated y uncertainty: 0.06036941112115596\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.15105342]]\n",
            "Estimated x uncertainty: 0.2788822330439516\n",
            "Estimated g(y): [[0.25512533]]\n",
            "Estimated y uncertainty: 0.27884545098197283\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.05593253]]\n",
            "Estimated x uncertainty: 0.57299096013777\n",
            "Estimated g(y): [[-0.05080474]]\n",
            "Estimated y uncertainty: 0.5729042365632055\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.1984161]]\n",
            "Estimated x uncertainty: 0.03251254222518086\n",
            "Estimated g(y): [[-0.17110984]]\n",
            "Estimated y uncertainty: 0.032510094991135406\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19800126]]\n",
            "Estimated x uncertainty: 0.014508963315157695\n",
            "Estimated g(y): [[-0.13942896]]\n",
            "Estimated y uncertainty: 0.014508812825421215\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.01155855]]\n",
            "Estimated x uncertainty: 0.03443279219297848\n",
            "Estimated g(y): [[0.10598031]]\n",
            "Estimated y uncertainty: 0.03443752000618733\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.31294151]]\n",
            "Estimated x uncertainty: 0.18371639873059403\n",
            "Estimated g(y): [[-0.08357328]]\n",
            "Estimated y uncertainty: 0.18369028659195608\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.57359727]]\n",
            "Estimated x uncertainty: 0.4578163671930869\n",
            "Estimated g(y): [[-0.5200802]]\n",
            "Estimated y uncertainty: 0.45775447321549834\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09779809]]\n",
            "Estimated x uncertainty: 0.08106162856609782\n",
            "Estimated g(y): [[0.16541896]]\n",
            "Estimated y uncertainty: 0.08108944393210916\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.1934427]]\n",
            "Estimated x uncertainty: 0.039905030100932895\n",
            "Estimated g(y): [[0.09189678]]\n",
            "Estimated y uncertainty: 0.03990815421846739\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.17507687]]\n",
            "Estimated x uncertainty: 0.04924651245738648\n",
            "Estimated g(y): [[0.09760185]]\n",
            "Estimated y uncertainty: 0.04924484145347442\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.17460997]]\n",
            "Estimated x uncertainty: 0.12589890691967542\n",
            "Estimated g(y): [[0.07665377]]\n",
            "Estimated y uncertainty: 0.12590576500267495\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.37997373]]\n",
            "Estimated x uncertainty: 0.381403531817511\n",
            "Estimated g(y): [[-0.01163328]]\n",
            "Estimated y uncertainty: 0.3814788588958734\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.8105801266909177, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.009935650102067858, 22: 0.0995998093768422, 18: 0.099755714034308, 23: 1.0, 19: 0.00993565010206786, 24: 0.09959980937684221}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.8105801266909177, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.009935650102067858, 18: 0.0995998093768422, 23: 0.009935650102067853, 14: 0.099755714034308, 19: 1.0, 24: 0.09975571403430794}\n",
            "\n",
            "\n",
            "Time Elapsed: 69.15864586830139\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[21, 20, 16, 15, 6, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l'], 12: ['l'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l'], 17: ['l'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 4']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.010301754395746926\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'd'], ['l'], ['l'], ['l', 'd']]\n",
            "['Iteration: 9']\n",
            "[21, 20, 5, 10, 15, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.7686081135784802\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 10']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8647757247536741\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 11']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.884405164489694\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 12']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8987526117237484\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 13']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9102893346493286\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 14']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9210462157945634\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 15']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9268802124014892\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 16']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9372428008961199\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 17']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9434332845909758\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 18']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9492354615430463\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 19']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9535486577192398\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 20']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 21']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 1, 0]\n",
            "Estimated g(x): [[0.10144329]]\n",
            "Estimated x uncertainty: 0.060773487088389984\n",
            "Estimated g(y): [[0.00420583]]\n",
            "Estimated y uncertainty: 0.060768374875032075\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09630775]]\n",
            "Estimated x uncertainty: 0.07828119458328116\n",
            "Estimated g(y): [[-0.09717494]]\n",
            "Estimated y uncertainty: 0.07827181407465456\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.32289964]]\n",
            "Estimated x uncertainty: 0.3008078155629872\n",
            "Estimated g(y): [[-0.50157554]]\n",
            "Estimated y uncertainty: 0.30091003697580737\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 0.0, 5: 0.0, 1: 0.9990201296022843, 6: 0.0, 2: 0.0, 7: 0.0}\n",
            "Upper Transitions: \n",
            "{0: 0.0004606443879641963, 5: 2.3928877450818903e-07, 1: 1.0, 6: 0.0005194652985260895, 2: 0.00046064438796411533, 7: 2.3928877450814694e-07}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.9990201296022843, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.0004606443879641963, 7: 2.3928877450818903e-07, 3: 1.0, 8: 0.0005194652985260895, 4: 0.00046064438796411533, 9: 2.3928877450814694e-07}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 11: 0.0, 2: 0.0, 7: 0.9990201296022843, 12: 0.0, 3: 0.0, 8: 0.0, 13: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 2.392887745082047e-07, 6: 0.0004606443879641963, 11: 2.3928877450818903e-07, 2: 0.0005194652985261235, 7: 1.0, 12: 0.0005194652985260895, 3: 2.392887745081626e-07, 8: 0.00046064438796411533, 13: 2.3928877450814694e-07}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.76485032]]\n",
            "Estimated x uncertainty: 0.5901773108191665\n",
            "Estimated g(y): [[-0.58030929]]\n",
            "Estimated y uncertainty: 0.5903769947298493\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.0283005788502106, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.8314943777642406, 6: 0.6918446029424845, 2: 1.0, 7: 0.8320496463280332, 3: 0.8314943777642407, 8: 0.6918446029424846}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.0283005788502106, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.8314943777642406, 8: 0.6918446029424845, 4: 1.0, 9: 0.8320496463280332}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.0283005788502106, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.6918446029424846, 7: 0.8314943777642406, 12: 0.6918446029424845, 3: 0.8320496463280334, 8: 1.0, 13: 0.8320496463280332, 4: 0.6918446029424846, 9: 0.8314943777642407, 14: 0.6918446029424846}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.01548124]]\n",
            "Estimated x uncertainty: 0.7935721043564301\n",
            "Estimated g(y): [[-0.29813769]]\n",
            "Estimated y uncertainty: 0.7936859097885463\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10373175]]\n",
            "Estimated x uncertainty: 0.04120053856762478\n",
            "Estimated g(y): [[-0.08761514]]\n",
            "Estimated y uncertainty: 0.04117040749545558\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19967392]]\n",
            "Estimated x uncertainty: 0.030502469472894724\n",
            "Estimated g(y): [[0.17919076]]\n",
            "Estimated y uncertainty: 0.03050339178837197\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.01148529]]\n",
            "Estimated x uncertainty: 0.176307820509396\n",
            "Estimated g(y): [[0.41200191]]\n",
            "Estimated y uncertainty: 0.17632420695859846\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.58978059]]\n",
            "Estimated x uncertainty: 0.439882095693399\n",
            "Estimated g(y): [[0.57703726]]\n",
            "Estimated y uncertainty: 0.4399355036920381\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.03113524]]\n",
            "Estimated x uncertainty: 0.6961361356378974\n",
            "Estimated g(y): [[0.50640165]]\n",
            "Estimated y uncertainty: 0.6961767473720479\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.20377731]]\n",
            "Estimated x uncertainty: 0.034483968909442025\n",
            "Estimated g(y): [[0.07555565]]\n",
            "Estimated y uncertainty: 0.03447921974580722\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10866545]]\n",
            "Estimated x uncertainty: 0.014773346525981411\n",
            "Estimated g(y): [[-0.16443221]]\n",
            "Estimated y uncertainty: 0.01477520994185713\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.17952702]]\n",
            "Estimated x uncertainty: 0.06709369087404643\n",
            "Estimated g(y): [[0.15625715]]\n",
            "Estimated y uncertainty: 0.06708679937978991\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.0111258]]\n",
            "Estimated x uncertainty: 0.27740525792222315\n",
            "Estimated g(y): [[0.37855195]]\n",
            "Estimated y uncertainty: 0.2774003449703303\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.31198283]]\n",
            "Estimated x uncertainty: 0.5598594606325303\n",
            "Estimated g(y): [[0.1768755]]\n",
            "Estimated y uncertainty: 0.5598225227154483\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.20555738]]\n",
            "Estimated x uncertainty: 0.03100188115293401\n",
            "Estimated g(y): [[-0.17914496]]\n",
            "Estimated y uncertainty: 0.031005104734111024\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19885834]]\n",
            "Estimated x uncertainty: 0.013278667753781696\n",
            "Estimated g(y): [[-0.1352431]]\n",
            "Estimated y uncertainty: 0.013278176508006263\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.01629607]]\n",
            "Estimated x uncertainty: 0.03156758346759678\n",
            "Estimated g(y): [[0.09224403]]\n",
            "Estimated y uncertainty: 0.03156989227370395\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.21253432]]\n",
            "Estimated x uncertainty: 0.16536187975161737\n",
            "Estimated g(y): [[-0.10632823]]\n",
            "Estimated y uncertainty: 0.16532749103155914\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.32506293]]\n",
            "Estimated x uncertainty: 0.43521695268945504\n",
            "Estimated g(y): [[-0.48857837]]\n",
            "Estimated y uncertainty: 0.43507762408851386\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09420365]]\n",
            "Estimated x uncertainty: 0.07386545230566807\n",
            "Estimated g(y): [[0.17158378]]\n",
            "Estimated y uncertainty: 0.07390343176763198\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19515394]]\n",
            "Estimated x uncertainty: 0.03574277092772873\n",
            "Estimated g(y): [[0.10322453]]\n",
            "Estimated y uncertainty: 0.03574377116280658\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.17737696]]\n",
            "Estimated x uncertainty: 0.05135126279643817\n",
            "Estimated g(y): [[0.11406492]]\n",
            "Estimated y uncertainty: 0.05135265517783757\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.18536912]]\n",
            "Estimated x uncertainty: 0.14883573023453672\n",
            "Estimated g(y): [[0.05574657]]\n",
            "Estimated y uncertainty: 0.14871275344780702\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.35209794]]\n",
            "Estimated x uncertainty: 0.41299069044903053\n",
            "Estimated g(y): [[-0.05241577]]\n",
            "Estimated y uncertainty: 0.41251299262512525\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.6777132334833613, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.031245864862814318, 22: 0.17744859107820204, 18: 0.17608404030125088, 23: 1.0, 19: 0.031245864862814325, 24: 0.1774485910782021}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.6777132334833613, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.031245864862814318, 18: 0.17744859107820204, 23: 0.03124586486281432, 14: 0.17608404030125088, 19: 1.0, 24: 0.1760840403012509}\n",
            "\n",
            "\n",
            "Time Elapsed: 110.21127605438232\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.02821841160756009\n",
            "Optimal Actions:\n",
            "[['u'], ['l'], ['l'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'd'], ['l'], ['l', 'r', 'u', 'd'], ['s'], ['d'], ['l'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[6, 15, 20, 21, 16, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.08209403271351925\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.8301483539736823\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8668129738335574\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 4']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8899705451956902\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9086312378598332\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9239318967365576\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9362720350419551\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 8']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 9']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 1, 0]\n",
            "Estimated g(x): [[0.06020569]]\n",
            "Estimated x uncertainty: 0.05787467180193923\n",
            "Estimated g(y): [[-0.01855859]]\n",
            "Estimated y uncertainty: 0.0578682263119019\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.0961706]]\n",
            "Estimated x uncertainty: 0.09828503211467196\n",
            "Estimated g(y): [[-0.073528]]\n",
            "Estimated y uncertainty: 0.09826893742228245\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.47936235]]\n",
            "Estimated x uncertainty: 0.3255509270054684\n",
            "Estimated g(y): [[-0.41789142]]\n",
            "Estimated y uncertainty: 0.325641690078007\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 0.0, 5: 0.0, 1: 0.9629968463459503, 6: 0.0, 2: 0.0, 7: 0.0}\n",
            "Upper Transitions: \n",
            "{0: 0.01863452194780989, 5: 0.0003487902094951817, 1: 1.0, 6: 0.018717421915735, 2: 0.0186345219478099, 7: 0.0003487902094951819}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.9629968463459503, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.01863452194780989, 7: 0.0003487902094951817, 3: 1.0, 8: 0.018717421915735, 4: 0.0186345219478099, 9: 0.0003487902094951819}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 11: 0.0, 2: 0.0, 7: 0.9629968463459503, 12: 0.0, 3: 0.0, 8: 0.0, 13: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.00034879020949518213, 6: 0.01863452194780989, 11: 0.0003487902094951817, 2: 0.018717421915735024, 7: 1.0, 12: 0.018717421915735, 3: 0.00034879020949518235, 8: 0.0186345219478099, 13: 0.0003487902094951819}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.94555474]]\n",
            "Estimated x uncertainty: 0.6097938215693175\n",
            "Estimated g(y): [[-0.55573033]]\n",
            "Estimated y uncertainty: 0.6100280226273722\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.014042681937636175, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.8812303468295077, 6: 0.7770384329526888, 2: 1.0, 7: 0.8817654041855449, 3: 0.8812303468295076, 8: 0.7770384329526887}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.014042681937636175, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.8812303468295077, 8: 0.7770384329526888, 4: 1.0, 9: 0.8817654041855449}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.014042681937636175, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.7770384329526888, 7: 0.8812303468295077, 12: 0.7770384329526888, 3: 0.8817654041855449, 8: 1.0, 13: 0.8817654041855449, 4: 0.7770384329526887, 9: 0.8812303468295076, 14: 0.7770384329526887}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.05626129]]\n",
            "Estimated x uncertainty: 0.8026228895021928\n",
            "Estimated g(y): [[-0.39808656]]\n",
            "Estimated y uncertainty: 0.802824418193476\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.1243359]]\n",
            "Estimated x uncertainty: 0.051725611229081106\n",
            "Estimated g(y): [[-0.05020139]]\n",
            "Estimated y uncertainty: 0.051727783734984\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18658276]]\n",
            "Estimated x uncertainty: 0.03698788322805033\n",
            "Estimated g(y): [[0.15148076]]\n",
            "Estimated y uncertainty: 0.036984378163490074\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.00532381]]\n",
            "Estimated x uncertainty: 0.19307508974200227\n",
            "Estimated g(y): [[0.39975781]]\n",
            "Estimated y uncertainty: 0.19311385286570512\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.51636184]]\n",
            "Estimated x uncertainty: 0.4601899951004542\n",
            "Estimated g(y): [[0.45345885]]\n",
            "Estimated y uncertainty: 0.46032200728836997\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.83924695]]\n",
            "Estimated x uncertainty: 0.707844138701876\n",
            "Estimated g(y): [[0.22269638]]\n",
            "Estimated y uncertainty: 0.7079192583514214\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.20254583]]\n",
            "Estimated x uncertainty: 0.04152011985300005\n",
            "Estimated g(y): [[0.06823575]]\n",
            "Estimated y uncertainty: 0.041520905596185056\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10712655]]\n",
            "Estimated x uncertainty: 0.019952880846371725\n",
            "Estimated g(y): [[-0.15139231]]\n",
            "Estimated y uncertainty: 0.019952045156445622\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18788356]]\n",
            "Estimated x uncertainty: 0.07594838351347366\n",
            "Estimated g(y): [[0.15386564]]\n",
            "Estimated y uncertainty: 0.07594012295824219\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.09614821]]\n",
            "Estimated x uncertainty: 0.2883026730965163\n",
            "Estimated g(y): [[0.25135111]]\n",
            "Estimated y uncertainty: 0.288264022838893\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.10456838]]\n",
            "Estimated x uncertainty: 0.565359228689421\n",
            "Estimated g(y): [[-0.09199086]]\n",
            "Estimated y uncertainty: 0.5651972751568405\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19727883]]\n",
            "Estimated x uncertainty: 0.03438807228062527\n",
            "Estimated g(y): [[-0.16995954]]\n",
            "Estimated y uncertainty: 0.034386446756671206\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19407952]]\n",
            "Estimated x uncertainty: 0.017275897260900876\n",
            "Estimated g(y): [[-0.15856531]]\n",
            "Estimated y uncertainty: 0.017279055910730375\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.0244518]]\n",
            "Estimated x uncertainty: 0.032489579105452526\n",
            "Estimated g(y): [[0.09053238]]\n",
            "Estimated y uncertainty: 0.03249154711887612\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.25767632]]\n",
            "Estimated x uncertainty: 0.15802271745184335\n",
            "Estimated g(y): [[-0.06918018]]\n",
            "Estimated y uncertainty: 0.15797488009799546\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.47092779]]\n",
            "Estimated x uncertainty: 0.4281847783481561\n",
            "Estimated g(y): [[-0.49623702]]\n",
            "Estimated y uncertainty: 0.42801085204692724\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.10166422]]\n",
            "Estimated x uncertainty: 0.08924595000072268\n",
            "Estimated g(y): [[0.16920768]]\n",
            "Estimated y uncertainty: 0.08923737144340496\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.1891715]]\n",
            "Estimated x uncertainty: 0.04379302756083735\n",
            "Estimated g(y): [[0.09790537]]\n",
            "Estimated y uncertainty: 0.04379536154622433\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.16281384]]\n",
            "Estimated x uncertainty: 0.0697299545668271\n",
            "Estimated g(y): [[0.09066328]]\n",
            "Estimated y uncertainty: 0.06973928892338274\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.16756098]]\n",
            "Estimated x uncertainty: 0.1727214314479149\n",
            "Estimated g(y): [[-0.00375209]]\n",
            "Estimated y uncertainty: 0.1727382224521136\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.35489784]]\n",
            "Estimated x uncertainty: 0.4283987269932535\n",
            "Estimated g(y): [[-0.15848063]]\n",
            "Estimated y uncertainty: 0.42847344119861014\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.6012835928089054, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.05043400962288083, 22: 0.22445434418095428, 18: 0.22469607263302116, 23: 1.0, 19: 0.05043400962288082, 24: 0.22445434418095422}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.6012835928089054, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.05043400962288083, 18: 0.22445434418095428, 23: 0.05043400962288083, 14: 0.22469607263302116, 19: 1.0, 24: 0.22469607263302116}\n",
            "\n",
            "\n",
            "Time Elapsed: 44.80207300186157\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[21, 20, 16, 15, 6, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l'], 12: ['l'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l'], 17: ['l'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 4']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.01309070408000143\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'd'], ['l'], ['l'], ['l', 'd']]\n",
            "['Iteration: 6']\n",
            "[21, 20, 5, 10, 15, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.8731053044780231\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9416204866867741\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9517955252427652\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 9']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.957531155079504\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 10']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.963101574140154\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 11']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9693822203423345\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 12']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9737853768913074\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 13']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 2, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'r', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9898098235680911\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 14']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 2, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'r', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 15']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 2, 1, 0]\n",
            "Estimated g(x): [[0.08678838]]\n",
            "Estimated x uncertainty: 0.055163371090771615\n",
            "Estimated g(y): [[-0.0076257]]\n",
            "Estimated y uncertainty: 0.05515687649527534\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.08223196]]\n",
            "Estimated x uncertainty: 0.05823921963652694\n",
            "Estimated g(y): [[-0.05041173]]\n",
            "Estimated y uncertainty: 0.058244813115322154\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.08188121]]\n",
            "Estimated x uncertainty: 0.150787045295235\n",
            "Estimated g(y): [[-0.36906064]]\n",
            "Estimated y uncertainty: 0.1508011360553089\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 1.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.03832199]]\n",
            "Estimated x uncertainty: 0.4135962516539846\n",
            "Estimated g(y): [[-0.44812517]]\n",
            "Estimated y uncertainty: 0.4138925826883692\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.673033908290318, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.17918655339611209, 6: 0.03226080937445484, 2: 1.0, 7: 0.1800403476880248, 3: 0.1791865533961121, 8: 0.032260809374454844}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.673033908290318, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.17918655339611209, 8: 0.03226080937445484, 4: 1.0, 9: 0.1800403476880248}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.673033908290318, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.032260809374454844, 7: 0.17918655339611209, 12: 0.03226080937445484, 3: 0.18004034768802482, 8: 1.0, 13: 0.1800403476880248, 4: 0.03226080937445485, 9: 0.1791865533961121, 14: 0.032260809374454844}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.08179325]]\n",
            "Estimated x uncertainty: 0.7019321757257326\n",
            "Estimated g(y): [[-0.24470711]]\n",
            "Estimated y uncertainty: 0.7024182258451421\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.11350749]]\n",
            "Estimated x uncertainty: 0.04397969439587135\n",
            "Estimated g(y): [[-0.05897118]]\n",
            "Estimated y uncertainty: 0.04397562991168138\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18106086]]\n",
            "Estimated x uncertainty: 0.01790957535376024\n",
            "Estimated g(y): [[0.15890659]]\n",
            "Estimated y uncertainty: 0.01790692957016025\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.05905761]]\n",
            "Estimated x uncertainty: 0.08079309943363142\n",
            "Estimated g(y): [[0.12673373]]\n",
            "Estimated y uncertainty: 0.08079208154086381\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.50857186]]\n",
            "Estimated x uncertainty: 0.3374320146057507\n",
            "Estimated g(y): [[-0.09056286]]\n",
            "Estimated y uncertainty: 0.33755217003479354\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.76165611]]\n",
            "Estimated x uncertainty: 0.64158256115688\n",
            "Estimated g(y): [[-0.28535678]]\n",
            "Estimated y uncertainty: 0.6418851479132738\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19010543]]\n",
            "Estimated x uncertainty: 0.036055128448958036\n",
            "Estimated g(y): [[0.06083335]]\n",
            "Estimated y uncertainty: 0.03605607054754475\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.1186764]]\n",
            "Estimated x uncertainty: 0.015983916342972308\n",
            "Estimated g(y): [[-0.13622988]]\n",
            "Estimated y uncertainty: 0.015981834508341796\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.16276762]]\n",
            "Estimated x uncertainty: 0.05352227619671282\n",
            "Estimated g(y): [[0.12454351]]\n",
            "Estimated y uncertainty: 0.05351849648478725\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.04274449]]\n",
            "Estimated x uncertainty: 0.25617964579622554\n",
            "Estimated g(y): [[0.07508423]]\n",
            "Estimated y uncertainty: 0.25620647253391654\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19284351]]\n",
            "Estimated x uncertainty: 0.5431607122058578\n",
            "Estimated g(y): [[-0.35203584]]\n",
            "Estimated y uncertainty: 0.5432939776588891\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19038024]]\n",
            "Estimated x uncertainty: 0.0330948902284254\n",
            "Estimated g(y): [[-0.16538361]]\n",
            "Estimated y uncertainty: 0.033095460172617316\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19738081]]\n",
            "Estimated x uncertainty: 0.015129543909523578\n",
            "Estimated g(y): [[-0.14704891]]\n",
            "Estimated y uncertainty: 0.015127404791702046\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.01557065]]\n",
            "Estimated x uncertainty: 0.03205423760380324\n",
            "Estimated g(y): [[0.10816062]]\n",
            "Estimated y uncertainty: 0.03205702235618332\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.26736595]]\n",
            "Estimated x uncertainty: 0.1577198324998002\n",
            "Estimated g(y): [[-0.12225532]]\n",
            "Estimated y uncertainty: 0.15773875138097176\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.41181578]]\n",
            "Estimated x uncertainty: 0.42287842368609246\n",
            "Estimated g(y): [[-0.61814562]]\n",
            "Estimated y uncertainty: 0.4230075472369499\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09763777]]\n",
            "Estimated x uncertainty: 0.07770574503296859\n",
            "Estimated g(y): [[0.17799834]]\n",
            "Estimated y uncertainty: 0.07772463832379822\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18833121]]\n",
            "Estimated x uncertainty: 0.04072746759077878\n",
            "Estimated g(y): [[0.10791107]]\n",
            "Estimated y uncertainty: 0.040733886438507554\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.1763399]]\n",
            "Estimated x uncertainty: 0.06181077694938425\n",
            "Estimated g(y): [[0.09782624]]\n",
            "Estimated y uncertainty: 0.0618091894278404\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.17186127]]\n",
            "Estimated x uncertainty: 0.1634951870828247\n",
            "Estimated g(y): [[0.06159299]]\n",
            "Estimated y uncertainty: 0.16339931650294862\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.33090027]]\n",
            "Estimated x uncertainty: 0.4252803255565911\n",
            "Estimated g(y): [[-0.02764552]]\n",
            "Estimated y uncertainty: 0.42503691395231363\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.617643698676296, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.04583729016150162, 22: 0.21448122486244645, 18: 0.21371236662275925, 23: 1.0, 19: 0.0458372901615016, 24: 0.21448122486244636}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.617643698676296, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.04583729016150162, 18: 0.21448122486244645, 23: 0.04583729016150163, 14: 0.21371236662275925, 19: 1.0, 24: 0.21371236662275928}\n",
            "\n",
            "\n",
            "Time Elapsed: 84.42137670516968\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[6, 15, 20, 21, 16, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.010429576623250251\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['u'], ['l'], ['l'], ['l', 'u'], ['r', 'u'], ['u'], ['s'], ['s'], ['s'], ['r'], ['l', 'r', 'u', 'd'], ['r'], ['r'], ['s'], ['r', 'd'], ['r', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['r', 'd'], ['d'], ['l'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[5, 10, 15, 20, 21, 22, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.09010771000498269\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.6593871351746579\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 4']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.7673395214864753\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8213810668555632\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8544551985235924\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8733761884128941\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8866733487310201\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 9']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8946928036957844\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 10']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9044954412503208\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 11']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9119637031346972\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 12']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9201831235723206\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 13']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9301380459852372\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 14']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9345775437214677\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 15']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 16']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 1, 0]\n",
            "Estimated g(x): [[0.08931241]]\n",
            "Estimated x uncertainty: 0.06294837760724184\n",
            "Estimated g(y): [[0.00473146]]\n",
            "Estimated y uncertainty: 0.06297853711607057\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09653648]]\n",
            "Estimated x uncertainty: 0.08378810239962993\n",
            "Estimated g(y): [[-0.08396271]]\n",
            "Estimated y uncertainty: 0.08377940870367803\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.38473011]]\n",
            "Estimated x uncertainty: 0.3151242232140826\n",
            "Estimated g(y): [[-0.32897588]]\n",
            "Estimated y uncertainty: 0.315183710486076\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 0.0, 5: 0.0, 1: 0.9801564950606615, 6: 0.0, 2: 0.0, 7: 0.0}\n",
            "Upper Transitions: \n",
            "{0: 0.009948946775907394, 5: 9.942965286338053e-05, 1: 1.0, 6: 0.009993987816294458, 2: 0.009948946775907408, 7: 9.942965286338067e-05}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.9801564950606615, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.009948946775907394, 7: 9.942965286338053e-05, 3: 1.0, 8: 0.009993987816294458, 4: 0.009948946775907408, 9: 9.942965286338067e-05}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 11: 0.0, 2: 0.0, 7: 0.9801564950606615, 12: 0.0, 3: 0.0, 8: 0.0, 13: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 9.942965286338072e-05, 6: 0.009948946775907394, 11: 9.942965286338053e-05, 2: 0.009993987816294478, 7: 1.0, 12: 0.009993987816294458, 3: 9.942965286338086e-05, 8: 0.009948946775907408, 13: 9.942965286338067e-05}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.81531586]]\n",
            "Estimated x uncertainty: 0.6061247442118387\n",
            "Estimated g(y): [[-0.30426361]]\n",
            "Estimated y uncertainty: 0.6063779177850948\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.016136881493875984, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.8726677488611164, 6: 0.762074117468079, 2: 1.0, 7: 0.8732694871130866, 3: 0.8726677488611164, 8: 0.762074117468079}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.016136881493875984, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.8726677488611164, 8: 0.762074117468079, 4: 1.0, 9: 0.8732694871130866}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.016136881493875984, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.762074117468079, 7: 0.8726677488611164, 12: 0.762074117468079, 3: 0.8732694871130866, 8: 1.0, 13: 0.8732694871130866, 4: 0.762074117468079, 9: 0.8726677488611164, 14: 0.762074117468079}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.98861724]]\n",
            "Estimated x uncertainty: 0.8021897596493177\n",
            "Estimated g(y): [[-0.1067438]]\n",
            "Estimated y uncertainty: 0.8024727855374372\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10737609]]\n",
            "Estimated x uncertainty: 0.04546937200478819\n",
            "Estimated g(y): [[-0.07183351]]\n",
            "Estimated y uncertainty: 0.04548130275624263\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19626652]]\n",
            "Estimated x uncertainty: 0.03496290417329956\n",
            "Estimated g(y): [[0.17851046]]\n",
            "Estimated y uncertainty: 0.034961518372680564\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.01291556]]\n",
            "Estimated x uncertainty: 0.1913769835182599\n",
            "Estimated g(y): [[0.48184976]]\n",
            "Estimated y uncertainty: 0.19145014347445213\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.5209521]]\n",
            "Estimated x uncertainty: 0.458245899987131\n",
            "Estimated g(y): [[0.62204136]]\n",
            "Estimated y uncertainty: 0.4585104066270077\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.87471987]]\n",
            "Estimated x uncertainty: 0.7074118547419826\n",
            "Estimated g(y): [[0.43484756]]\n",
            "Estimated y uncertainty: 0.7077989304358281\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19891919]]\n",
            "Estimated x uncertainty: 0.03762004869327029\n",
            "Estimated g(y): [[0.07163641]]\n",
            "Estimated y uncertainty: 0.037616723457421515\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.1072358]]\n",
            "Estimated x uncertainty: 0.016117005001479924\n",
            "Estimated g(y): [[-0.15337967]]\n",
            "Estimated y uncertainty: 0.016116876484461386\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.18904513]]\n",
            "Estimated x uncertainty: 0.07318055514957125\n",
            "Estimated g(y): [[0.16158315]]\n",
            "Estimated y uncertainty: 0.07320456986170487\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10724707]]\n",
            "Estimated x uncertainty: 0.28932760113528216\n",
            "Estimated g(y): [[0.28433812]]\n",
            "Estimated y uncertainty: 0.2895285545410056\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09680308]]\n",
            "Estimated x uncertainty: 0.5699246779876084\n",
            "Estimated g(y): [[-0.00634714]]\n",
            "Estimated y uncertainty: 0.5703913418021762\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.20569685]]\n",
            "Estimated x uncertainty: 0.03241530580309411\n",
            "Estimated g(y): [[-0.16868057]]\n",
            "Estimated y uncertainty: 0.03241799331623668\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.20282281]]\n",
            "Estimated x uncertainty: 0.014282708494477972\n",
            "Estimated g(y): [[-0.14384256]]\n",
            "Estimated y uncertainty: 0.014284332431410638\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.01449238]]\n",
            "Estimated x uncertainty: 0.03263584196924366\n",
            "Estimated g(y): [[0.0893048]]\n",
            "Estimated y uncertainty: 0.03263309433822602\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.29292316]]\n",
            "Estimated x uncertainty: 0.17160733357864932\n",
            "Estimated g(y): [[-0.10812666]]\n",
            "Estimated y uncertainty: 0.17169650577315992\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.51097664]]\n",
            "Estimated x uncertainty: 0.4420448836308013\n",
            "Estimated g(y): [[-0.48404209]]\n",
            "Estimated y uncertainty: 0.4423509691394591\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.09050396]]\n",
            "Estimated x uncertainty: 0.08106253139826453\n",
            "Estimated g(y): [[0.1673344]]\n",
            "Estimated y uncertainty: 0.08105571976945683\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19672198]]\n",
            "Estimated x uncertainty: 0.042482211359233475\n",
            "Estimated g(y): [[0.09831378]]\n",
            "Estimated y uncertainty: 0.042485365298406644\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.18413048]]\n",
            "Estimated x uncertainty: 0.0583275246993565\n",
            "Estimated g(y): [[0.109013]]\n",
            "Estimated y uncertainty: 0.0583340633493059\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.20131194]]\n",
            "Estimated x uncertainty: 0.15812301386429448\n",
            "Estimated g(y): [[0.07526175]]\n",
            "Estimated y uncertainty: 0.15813398794950895\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.34855368]]\n",
            "Estimated x uncertainty: 0.419514450944578\n",
            "Estimated g(y): [[0.02586709]]\n",
            "Estimated y uncertainty: 0.41956714600981976\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.645244843126341, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.03870215838522252, 22: 0.19664898668605862, 18: 0.196808328572823, 23: 1.0, 19: 0.03870215838522251, 24: 0.19664898668605857}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.645244843126341, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.03870215838522252, 18: 0.19664898668605862, 23: 0.03870215838522251, 14: 0.196808328572823, 19: 1.0, 24: 0.19680832857282293}\n",
            "\n",
            "\n",
            "Time Elapsed: 78.63784456253052\n",
            "P_sat: 0.0\n",
            "['Iteration: 0']\n",
            "[21, 20, 16, 15, 11, 10, 6, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['u'], 1: ['l'], 2: ['l', 'r', 'u'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['u', 'd'], 11: ['l'], 12: ['l', 'r', 'u', 'd'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['u', 'd'], 16: ['l'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['d'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 1']\n",
            "[6, 21, 20, 15, 16, 11, 10, 5, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l'], 2: ['l'], 3: ['l', 'r', 'u'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l', 'r', 'u', 'd'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l'], 17: ['l'], 18: ['l', 'r', 'u', 'd'], 19: ['s'], 20: ['r', 'd'], 21: ['l'], 22: ['l', 'r', 'd'], 23: ['l', 'r', 'd'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 2']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 3']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 4']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 5']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 6']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 7']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd']]\n",
            "['Iteration: 8']\n",
            "[5, 10, 15, 20, 21, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'u', 'd'], 12: ['l'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.010564597936823815\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['l'], ['s'], ['r', 'd'], ['l', 'd'], ['l'], ['l'], ['l', 'd']]\n",
            "['Iteration: 9']\n",
            "[12, 22, 21, 20, 15, 5, 10, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.6173416987120446\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l', 'd']]\n",
            "['Iteration: 10']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l', 'd']}\n",
            "P_sat: 0.808984065243964\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 11']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.851257945364841\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 12']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8748898058831636\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 13']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.8912046218082612\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 14']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9057444620684466\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 15']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9158792882622048\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 16']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9212922938079856\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 17']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9351249177421292\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 18']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9438630351236063\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['l'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 19']\n",
            "[5, 10, 15, 20, 21, 22, 12, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'u', 'd'], 18: ['l'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 0.9516288695794006\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['r'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l'], ['l']]\n",
            "['Iteration: 20']\n",
            "[12, 22, 5, 10, 15, 20, 21, 23, 18, 17, 16, 11, 6, 1, 0]\n",
            "Policy:\n",
            "{0: ['r', 'u'], 1: ['l', 'u'], 2: ['l'], 3: ['l'], 4: ['l', 'u'], 5: ['r', 'u', 'd'], 6: ['l', 'u', 'd'], 7: ['s'], 8: ['s'], 9: ['s'], 10: ['r', 'u', 'd'], 11: ['l', 'r', 'u', 'd'], 12: ['l', 'u'], 13: ['l'], 14: ['s'], 15: ['r', 'u', 'd'], 16: ['l', 'r', 'u', 'd'], 17: ['l', 'r', 'u', 'd'], 18: ['l', 'u'], 19: ['s'], 20: ['r', 'd'], 21: ['l', 'r', 'd'], 22: ['l', 'r', 'd'], 23: ['l'], 24: ['l']}\n",
            "P_sat: 1.0\n",
            "Optimal Actions:\n",
            "[['r', 'u'], ['l', 'u'], ['l'], ['l'], ['l', 'u'], ['r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['s'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u'], ['l', 'r', 'u'], ['s'], ['r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'r', 'u', 'd'], ['l', 'u', 'd'], ['s'], ['r', 'd'], ['l', 'r', 'd'], ['l', 'r', 'd'], ['l', 'd'], ['l']]\n",
            "['Iteration: 21']\n",
            "[5, 10, 15, 20, 21, 22, 23, 12, 13, 18, 17, 16, 11, 6, 1, 0]\n",
            "Estimated g(x): [[0.10190469]]\n",
            "Estimated x uncertainty: 0.06460872155915137\n",
            "Estimated g(y): [[0.00410596]]\n",
            "Estimated y uncertainty: 0.06459719068298285\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-1.28996813e-13]\n",
            "State ID: 0\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.11025607]]\n",
            "Estimated x uncertainty: 0.07746884729026426\n",
            "Estimated g(y): [[-0.09055396]]\n",
            "Estimated y uncertainty: 0.07747391879793376\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 1\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 1.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.33693998]]\n",
            "Estimated x uncertainty: 0.3058027306459029\n",
            "Estimated g(y): [[-0.38071646]]\n",
            "Estimated y uncertainty: 0.3058322375015833\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 2\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{0: 0.0, 5: 0.0, 1: 0.9930367731304062, 6: 0.0, 2: 0.0, 7: 0.0}\n",
            "Upper Transitions: \n",
            "{0: 0.003478336316259609, 5: 1.2163931614937314e-05, 1: 1.0, 6: 0.0034970544849491914, 2: 0.0034783363162596004, 7: 1.2163931614937284e-05}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.9930367731304062, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.003478336316259609, 7: 1.2163931614937314e-05, 3: 1.0, 8: 0.0034970544849491914, 4: 0.0034783363162596004, 9: 1.2163931614937284e-05}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 11: 0.0, 2: 0.0, 7: 0.9930367731304062, 12: 0.0, 3: 0.0, 8: 0.0, 13: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 1.2163931614937274e-05, 6: 0.003478336316259609, 11: 1.2163931614937314e-05, 2: 0.0034970544849491796, 7: 1.0, 12: 0.0034970544849491914, 3: 1.2163931614937243e-05, 8: 0.0034783363162596004, 13: 1.2163931614937284e-05}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.77019661]]\n",
            "Estimated x uncertainty: 0.5981054064398726\n",
            "Estimated g(y): [[-0.31958215]]\n",
            "Estimated y uncertainty: 0.5981661850079901\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 3\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{1: 0.0, 6: 0.0, 2: 0.02165415501107594, 7: 0.0, 3: 0.0, 8: 0.0}\n",
            "Upper Transitions: \n",
            "{1: 0.8527679963279325, 6: 0.7273470965207188, 2: 1.0, 7: 0.8529249451817104, 3: 0.8527679963279325, 8: 0.7273470965207188}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 4: 0.02165415501107594, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 0.8527679963279325, 8: 0.7273470965207188, 4: 1.0, 9: 0.8529249451817104}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 12: 0.0, 3: 0.0, 8: 0.02165415501107594, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 0.7273470965207188, 7: 0.8527679963279325, 12: 0.7273470965207188, 3: 0.8529249451817104, 8: 1.0, 13: 0.8529249451817104, 4: 0.7273470965207188, 9: 0.8527679963279325, 14: 0.7273470965207188}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.00830227]]\n",
            "Estimated x uncertainty: 0.798169494082597\n",
            "Estimated g(y): [[-0.05186047]]\n",
            "Estimated y uncertainty: 0.7982313718788794\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 4\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{2: 0.0, 7: 0.0, 3: 0.0, 8: 0.0, 4: 0.0, 9: 0.0}\n",
            "Upper Transitions: \n",
            "{2: 1.0, 7: 1.0, 3: 1.0, 8: 1.0, 4: 1.0, 9: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{3: 0.0, 8: 0.0, 13: 0.0, 4: 0.0, 9: 0.0, 14: 0.0}\n",
            "Upper Transitions: \n",
            "{3: 1.0, 8: 1.0, 13: 1.0, 4: 1.0, 9: 1.0, 14: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10745896]]\n",
            "Estimated x uncertainty: 0.04209620722561858\n",
            "Estimated g(y): [[-0.07911723]]\n",
            "Estimated y uncertainty: 0.04210530145659485\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 5\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{0: 1.0}\n",
            "Upper Transitions: \n",
            "{0: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.20449684]]\n",
            "Estimated x uncertainty: 0.03244197322422769\n",
            "Estimated g(y): [[0.17701517]]\n",
            "Estimated y uncertainty: 0.03244167077552255\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 6\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{1: 1.0}\n",
            "Upper Transitions: \n",
            "{1: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.02322029]]\n",
            "Estimated x uncertainty: 0.184473033219826\n",
            "Estimated g(y): [[0.47160704]]\n",
            "Estimated y uncertainty: 0.18446547107030764\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 7\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{7: 1}\n",
            "Upper Transitions: \n",
            "{7: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.5717318]]\n",
            "Estimated x uncertainty: 0.4481756157474035\n",
            "Estimated g(y): [[0.70007031]]\n",
            "Estimated y uncertainty: 0.4481868125775592\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 8\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{8: 1}\n",
            "Upper Transitions: \n",
            "{8: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-1.00871521]]\n",
            "Estimated x uncertainty: 0.6995387153175904\n",
            "Estimated g(y): [[0.60173185]]\n",
            "Estimated y uncertainty: 0.6996280026421817\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 9\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{9: 1}\n",
            "Upper Transitions: \n",
            "{9: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19834008]]\n",
            "Estimated x uncertainty: 0.034600215613665386\n",
            "Estimated g(y): [[0.080975]]\n",
            "Estimated y uncertainty: 0.03460067619853885\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 10\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{5: 1.0}\n",
            "Upper Transitions: \n",
            "{5: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.10714944]]\n",
            "Estimated x uncertainty: 0.014849052042179619\n",
            "Estimated g(y): [[-0.16537177]]\n",
            "Estimated y uncertainty: 0.01485184886613554\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 11\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{6: 1.0}\n",
            "Upper Transitions: \n",
            "{6: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.17478789]]\n",
            "Estimated x uncertainty: 0.06912085538376629\n",
            "Estimated g(y): [[0.15026004]]\n",
            "Estimated y uncertainty: 0.06910962276613263\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 12\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{7: 1.0}\n",
            "Upper Transitions: \n",
            "{7: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.02255781]]\n",
            "Estimated x uncertainty: 0.27725573164613915\n",
            "Estimated g(y): [[0.35547392]]\n",
            "Estimated y uncertainty: 0.27730229219519076\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 13\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{14: 1.0}\n",
            "Upper Transitions: \n",
            "{14: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{8: 1.0}\n",
            "Upper Transitions: \n",
            "{8: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.28582653]]\n",
            "Estimated x uncertainty: 0.5574476286553276\n",
            "Estimated g(y): [[0.14399398]]\n",
            "Estimated y uncertainty: 0.5577200384345488\n",
            "Actual g(x): [-1.19726451e-12]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 14\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{14: 1}\n",
            "Upper Transitions: \n",
            "{14: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.1922912]]\n",
            "Estimated x uncertainty: 0.03271535464344822\n",
            "Estimated g(y): [[-0.17962649]]\n",
            "Estimated y uncertainty: 0.03271638291498316\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 15\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{10: 1.0}\n",
            "Upper Transitions: \n",
            "{10: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.19537149]]\n",
            "Estimated x uncertainty: 0.013609804081745563\n",
            "Estimated g(y): [[-0.1262258]]\n",
            "Estimated y uncertainty: 0.013609813027643823\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 16\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{11: 1.0}\n",
            "Upper Transitions: \n",
            "{11: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.014242]]\n",
            "Estimated x uncertainty: 0.03072383141664382\n",
            "Estimated g(y): [[0.09866985]]\n",
            "Estimated y uncertainty: 0.030725636003196475\n",
            "Actual g(x): [-1.64135372e-13]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 17\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{12: 1.0}\n",
            "Upper Transitions: \n",
            "{12: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.24614819]]\n",
            "Estimated x uncertainty: 0.16297384204813906\n",
            "Estimated g(y): [[-0.11150295]]\n",
            "Estimated y uncertainty: 0.16303223245542128\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-0.2]\n",
            "State ID: 18\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{19: 1.0}\n",
            "Upper Transitions: \n",
            "{19: 1.0}\n",
            "\n",
            "\n",
            "Action u\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 1.0}\n",
            "Upper Transitions: \n",
            "{13: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.35883987]]\n",
            "Estimated x uncertainty: 0.43303119224913594\n",
            "Estimated g(y): [[-0.47003501]]\n",
            "Estimated y uncertainty: 0.43334283780439625\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [-1.26050281e-12]\n",
            "State ID: 19\n",
            "Action s\n",
            "Lower Transitions: \n",
            "{19: 1}\n",
            "Upper Transitions: \n",
            "{19: 1}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.11038836]]\n",
            "Estimated x uncertainty: 0.07466971060577116\n",
            "Estimated g(y): [[0.17089555]]\n",
            "Estimated y uncertainty: 0.07467206189924537\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.2]\n",
            "State ID: 20\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{15: 1.0}\n",
            "Upper Transitions: \n",
            "{15: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.19119974]]\n",
            "Estimated x uncertainty: 0.039406377157729516\n",
            "Estimated g(y): [[0.09779157]]\n",
            "Estimated y uncertainty: 0.03940416549890629\n",
            "Actual g(x): [0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 21\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{20: 1.0}\n",
            "Upper Transitions: \n",
            "{20: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{16: 1.0}\n",
            "Upper Transitions: \n",
            "{16: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.18290616]]\n",
            "Estimated x uncertainty: 0.05158658260017983\n",
            "Estimated g(y): [[0.10991742]]\n",
            "Estimated y uncertainty: 0.0515861670030019\n",
            "Actual g(x): [-0.2]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 22\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{21: 1.0}\n",
            "Upper Transitions: \n",
            "{21: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{23: 1.0}\n",
            "Upper Transitions: \n",
            "{23: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{17: 1.0}\n",
            "Upper Transitions: \n",
            "{17: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[-0.20869208]]\n",
            "Estimated x uncertainty: 0.13115434428239994\n",
            "Estimated g(y): [[0.06975308]]\n",
            "Estimated y uncertainty: 0.13114451342404934\n",
            "Actual g(x): [-0.1]\n",
            "Actual g(y): [0.1]\n",
            "State ID: 23\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{22: 1.0}\n",
            "Upper Transitions: \n",
            "{22: 1.0}\n",
            "\n",
            "\n",
            "Action r\n",
            "Lower Transitions: \n",
            "{24: 1.0}\n",
            "Upper Transitions: \n",
            "{24: 1.0}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{18: 1.0}\n",
            "Upper Transitions: \n",
            "{18: 1.0}\n",
            "\n",
            "\n",
            "Estimated g(x): [[0.2700913]]\n",
            "Estimated x uncertainty: 0.3894078101283992\n",
            "Estimated g(y): [[0.01955484]]\n",
            "Estimated y uncertainty: 0.38949187048559725\n",
            "Actual g(x): [0.1]\n",
            "Actual g(y): [-0.1]\n",
            "State ID: 24\n",
            "Action l\n",
            "Lower Transitions: \n",
            "{17: 0.0, 22: 0.0, 18: 0.0, 23: 0.7796065276493236, 19: 0.0, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{17: 0.013699919993524124, 22: 0.1169513479690019, 18: 0.11714204437519869, 23: 1.0, 19: 0.01369991999352412, 24: 0.11695134796900186}\n",
            "\n",
            "\n",
            "Action d\n",
            "Lower Transitions: \n",
            "{13: 0.0, 18: 0.0, 23: 0.0, 14: 0.0, 19: 0.7796065276493236, 24: 0.0}\n",
            "Upper Transitions: \n",
            "{13: 0.013699919993524124, 18: 0.1169513479690019, 23: 0.013699919993524125, 14: 0.11714204437519869, 19: 1.0, 24: 0.1171420443751987}\n",
            "\n",
            "\n",
            "Time Elapsed: 102.52164888381958\n",
            "Average Iterations: 14.9\n",
            "Average Time: 75.98110589981079\n"
          ]
        }
      ],
      "source": [
        "# Testing GridWorld state construction\n",
        "import time\n",
        "gw = GridWorld()\n",
        "iterations = np.empty((10))\n",
        "times = np.empty((10))\n",
        "uncertainties = []\n",
        "psats = []\n",
        "tempPos = np.empty((2,0))\n",
        "tempVal = np.empty((2,0))\n",
        "for i in np.arange(10):\n",
        "    start = time.time()\n",
        "    iterations[i]=gw.run()\n",
        "    end = time.time()\n",
        "    print(\"Time Elapsed: \" + str(end-start))\n",
        "    times[i]=end-start\n",
        "    uncertainties.append(gw.uncertainty[0])\n",
        "    psats.append(gw.psats[0])\n",
        "    gw.uncertainty = np.empty((1,0))\n",
        "    gw.psats = np.empty((1,0))\n",
        "    tempPos = gw.gpX.pos\n",
        "    gw.gpX.pos=np.empty((2,0))\n",
        "    gw.gpX.val=np.empty((1,0))\n",
        "    gw.gpY.pos=np.empty((2,0))\n",
        "    gw.gpY.val=np.empty((1,0))\n",
        "    gw.pos=np.empty((2,0))\n",
        "    gw.val=np.empty((2,0))\n",
        "print(\"Average Iterations: \" + str(np.average(iterations)))\n",
        "print(\"Average Time: \" + str(np.average(times)))"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 26,
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 315
        },
        "id": "gYepXfhct7s_",
        "outputId": "5041c39b-2c3d-44da-9bb1-8f5db715388c"
      },
      "outputs": [
        {
          "data": {
            "text/plain": [
              "<Figure size 432x288 with 0 Axes>"
            ]
          },
          "metadata": {},
          "output_type": "display_data"
        },
        {
          "data": {
            "image/png": 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zglrrPUqpzRifPZOVUmnxL7rtebuLukJKqY8wcqu4ML7Ytn2f7TPxz5BfKaX+hJEL5VSMXHVj2hQdh5F/5Xyl1Dla63ZzuMT7V5dj5GGbivHZ85nVHOP64nOwKwPeP43/yHQFxvTwyUAGRjLh9rT3GBwV/6sZpB+kEkmfWfSWBHjEoa606yKglJqBkay2q6GPLTpdgjquq+Rlib/EH/RBpbXeqJS6A7gZo0NyG3CbUmovxi8V7wOvxofnDgWJS5puTaJ8YpmulkNN9nG0JXHewdTj1wMHd1g29fD8xQn7nxkK3IXOOgJJ/Y91l1LqeIzRNPlJHpLM/2RXevMc9dS9GAEeMII532m5QSmVj/GlBOCjvp4GJ4QQHfBhJIT/BCP482wSowe7+izoST9hCkYgIZ+Okzsnk3Q+scxI+jHA00Jr7cUYpfk4gFIqCyPIdRJwKcaPiGAsrvAXjDQAB1FKfQljKm96kqfti8/BTg10/1QpdQNwB8n38dp7DFr6UJUdTc0aYNJnFr0iAR5xqOtsCDBw4EP3LVpXBNiLkdRsM8aUjZYlGqF1JYJkpj92tvJQl7TWtyilVgA/ojViX4QxxPdLGCsGvA7coLVO5gOiP6Um7Ccz9NXbwbGfoTtfwamvJI7a6M77ZmLZzkZ+QO9eD4kdFm+HpTqXbAexPdZObuvyf6y74nPMX6V1fvoWjOSc2zCSUAcTit+PMYWgL4bdD8Rr7SBa61VKqVXAXOBSpdQPtdYt9+9KWl9jneY6EEKIntJatzdSubu6+ixo+ayPdJSnp41k+wnJrF6U2C9xJ1G+z8UDC68DryulfoqxIuv58ZuvVEr9XGvdkpsRpdQxGD9ytPQ3V2P0VUswpn8lBtxaRmD12/SzRAPVP1VKXYKxOESLDzDSG+zCmK7e8jpKXMGyvcegpQ/V0/5TXxvufWYxyCTAI0TXvkVrcOcR4GsdJbVTSt06YK0CtLHc44tKqZEYU2yOwBiiOhPjV63TgSOUUodrrXs6sqMvJE4Z6mgKTaLEDlZPphv1tcRfBjv98GwjMfBS3zdNaVdi+3raOW3pIGiMVTmGcifgZlqDO78C/q+jaWBKqc9D4ONejABOJsYKJY8rpRStv+g20P1RV0IIMZS0fNanKKWsSQR5ku0ndDRdKVFiv2TQv+Rrrf1KqaswlnLPwQjiHI/RB21xG63BnWu11u1+1imlkulz9bkB6p+2TEuKAGdprV9rr5BSqqtcQI1AFoMU3GvHcO8zi0EmSZaF6NpJ8b8RjF8bOlyxgNY5swNKa12mtX5aa/1drfUsYCLGLzlgjMz4ZcdHD4j9CfvJTHNLLNPpCmcDpDxhv23C684klq3oo7a0Z1/C/pQe1tEyfF4BBb1rTr9r+Z+sBH7aSXAnFaPTNtz9i9YgXst0reNoXa3k8S4SkgohxFDX036C5uDP6LbGd3Jbe2WGQp+jZeGOFQlXjWzZUUpZac2bt7Kj4E7coPRLW/RX/1QpNZbWvEUvdRTcievqMWjpQ+XGR+0PtuHeZxaDTAI8QnStZR50je5kqXSl1GG0riYxqOLJ7C6gdVrQUZ0U70jiCI5eDc+OJ4hrmW89WynV1eN0SsL+8t6cu4+soXWo72SlVHZXB8Tv46T4xeZ4Hf1lLa0BgOPjgY3uei9h/5QOS/WfA6+3+OiUzrT8T+7sYqTRSQytz7ke/U/FV/R4PH7xWKXURA5Orvx5GKUkhDi0JX7Wn9xZQaVUEUYyXYDNnSRYBjihi7qsGEmOwZgOM5RymSWOYkocWeShdRZGSRd1JLPcdXc+f3ulj/qn0NoPgN4/Bi0JwBXwxR62R/rMYsgYSh1fIYaqlvnbuV18cf7pQDQmWVrrBlqX/uzJdMzEzkRfDPF9PqEtN3RUKP4YfzN+UdP16h39Lp7zpGVVDzPw9SQO+watc71f78/lq+OrcvwrfjEVYwpTdz1Fa2fyR4MwrLs7r7eW/8mxHXVG40vL3tIXDetDvfmfujdh/4e0LqG6Qmvdn8FDIYQYCC8k7H9bKdVZovof0Pod5vlOygFMV0p1FjC6ktaFAl7pYqXEXlFK5XVd6kDZNODYhKsSA0+JeYU6HFUc70/dmMTp+rq/16k+6J9C8o9BEXBVF3U9nrB/aw/7P9JnFkOGBHiE6FrLEFmFkUT5IMrwS4zlLgeEUuo7SqnzlVKWTspciLFsNPRs9MjOhP05PTi+rb/QmmTxh0qp89sWiHfoHqd1KPLzQ2jp99/Smkz7J50tIx6/rSW4oOPH9rff0trB+JFS6rudBD8ylFKJHUe01nsxniMwhvv+O75KU7uUUial1ElKqZ/0Qduhe6+3lv/JHNrp+MT/Lx4A5vVJy/pIPIlmQ/zi7O78UhpfHn1J/OJXaV3hQkbvCCGGPa31Woxk+QBjgX/GR9ccRCl1GXB9/GITcE8S1T8UX667bV0LgDvjF2McnLA3sdy7Sikd365M4nwdeVEp9axS6tjO3v/j04SepjXwtJeEUbbxAElL32ieUurcdupwA89iJDfuSp/19waofwrGiqEtCYjPjj+Xbc+TB7xE14mHlwL/jV+cALzU0VSteJ//rHZukj6zGDIkybIQXbsHuBpjNMZ3lFKzMX5pKsf44PwKcBjGrysBjNVu+tsc4E9AnVLqTWAVRg6VGMZyoafQOiRVA7/pwTnWYeQ4ycVYvacKWErrB05Aa/1eRwe3pbXepZS6EWMkQgrwnFLqZYwP1XqMD9WrMTp2xO/PN9upalBorT9MWPrThtFRexej/S3ztwuBL2DkR2lxu9b64wFo306l1FcxRvKYgLuBq5VSz2EMX45h5NY5HCO54bMcPC0LjPs2GzgRI6HjDqXU88DHGCvGWTFeX7MwhtDnA2/TTuCzB96mdQnwB5VSf8QYotzya+p2rXXLUrZ/oXUI/x+UUscBbwA1GK+jy+N/F8f/Ji4jP9jeAc7F+MXxaaXUCxycgPu9TvLp3IeRqLKFl9aRW0IIMdxdi7EaVA7wZWCOUuoRjGXMM4CzgDMSyn9Da72/bSVtvAycDXyqlHoQ4wcCM0YC48uBlkDEH7XWK9qvos+YMKYnXQDsU0q9h3F/KzBG0GZj/DBxHsb9BSP/47Xt5H/8C/Dn+P5zSqkngA8xgl7TMUYmjcRYjevyLtrVnc/frgxE/xStdUgpdR9wE8Zz+L5S6iGM5zccb8dVGI9jMo/BFRjTm8ZgTO8uUUo9Fa+vESPYNhM4Eyjms9OwpM8shg6ttWyyfa42jA81Hd8e7uL2K5Os8xsYH3S6g20jRpK+d1uu66Ce2xKOOa6Lc3ZYFvhnJ21J3LzAZR3U32lb42Wu7aTuXT25bxjTmwJdtHsdUNxJHV22vSdlk3wtfD+J9ut4mRu7qOu4hPK39UVZjM5HVRLte6iD460YHcdIkq+xR3pzvxKOMWPMg+/oPLe1Kf/rLtr1IcaXhF3tvV6Tfd1idOQ6fD/pblmMAJq/k3Z39rq3YywD31L2/r54Tcsmm2yytd0S35d6UcfDyby3tTlmIrC5i/d3H3B5J3VcmVD2Sozlujvrwz0AmDqp793E+nrxePyjG5+tGiPIcmoHdSmM0RudHf8SxoqTLZff7aCu7n7+dvi5St/0Tw96/jp5PO0YP5p0dp57MYIgXX6OY+T1ebeL+jQQ6+B46TPLNiQ2maIlRBK01n/HSML3LMbInTBGpH4Jxq8H83Tyv270hW9gjML4HcYohVKMRL4RoBrjy+3PgIla68d6ehKt9f3AaRidhH3xc/SK1vpejA7cb4FPMX6JCGGsGvBfjF9cZmutd/X2XP1Ba/17jC/yt2L86lUGBONbWfy6WzE+bP84CO37D0Zn5qZ4WyowXq8BjJE8z2E8xt/u4PiQ1vrbGAks7wCWYQSMIhiBiZ0Yz9MtwEyt9RV91O4oxqicH2OMGKqj9dfD9srfgvE/8CrGaz6M8Rp6ByMB8XFa66q+aFtf0lp/ijHK7x/AFg7OI9DVsUGM/+0WMj1LCPG5orXeCszAeB9/ndY+Vx3GaJdfAxO01o92o87fYozYeQrYg9HnqAL+A3xBa32N7jxhf5/QWn8NYxTLJRiBhyUY96+l/1YHrAeeAC4GJmut3+igLq21vhRjFPliWvtS+zDu15e01ufoJFZY7O7nbxcGpH8ab3cQY0TQN+PtboqfazfwDEZw7OscnAC5s/oqtNbHYYzEfgzYgRFMbOnzv4cRmJnUwfHSZxZDgtJGtE4IIYQQQ5hSKh0jiOgE1mitZw9ui4QQQgghxFAiI3iEEEKI4eFyjOAOGPl4hBBCCCGEOEBG8AghhBBDXHzZ1k0Yid3rgSKttbfTg4QQQgghxCFFVtESQgghhqD4sq9ZGDkbrqd1udvfS3BHCCGEEEK0JSN4hBBCiCFIKfUucGybq1cAR2mtQwPfIiGEEEIIMZRJgGcYyM7O1sXFxYPdDCGEEANoy5YteL1elFJYrVYyMzPJz8/HbDYPdtOGpVWrVlVrrXMGux2HOunTCCGEEL3XUb9GpmgNA8XFxaxcuXKwmyGEEEIMW0qp3YPdBiF9GiGEEKIvdNSvkVW0hBBCCCGEEEIIIYY5CfAIIYQQQgghhBBCDHMS4BFCCCGEEEIIIYQY5iTAI4QQQgghhBBCCDHMSYBHCCGEEEIIIYQQYpiTAI8QQgghhBBCCCHEMCcBHiGEEEKIIUwpZVZKTVdKXamU+otS6mOllF8ppePbbf10XpdS6ial1EdKqUqlVFAptVsp9bRS6tT+OKcQQgghei5lsBsghBBCCCE69Qxw3kCeUCl1GPAcMLbNTaPi20VKqSeAq7XWoYFsmxBCCCHaJwEeIYQQQoihzdzmci1QA0zoj5MppUYDrwF58auWA48D1cAM4FrAA1wCaOCy/miHEEIIIbpHpmgJIYQQQgxty4E7gAuBsVprD/Drfjzf3bQGdx4CDtda/0Vr/S+t9S3AXGBP/PZLlVJn9GNbhBBCCJEkGcEjhBBCCDGEaa37M5hzEKXULOCc+MU9wPVa61ib9uxWSn0DeDV+1W0J+0IIIYQYJDKCRwghhBBCtPhSwv79WutgB+VeA7bH9+cppdrm6hFCCCHEAJMAjxBCCCGEaHFKwv7rHRXSWmvgjYSrTuu3FgkhhBAiKRLgEUIIIYQQKKVMwNT4xQiwpotDVibsT++XRgkhhBAiaRLgEUIIIYQQAIWAI75fqrWOdFF+d8L+xP5pkhCHJh2ODnYThr1gpKMZpj0TbaglEhnaz0s0GhjsJog2GgMD+5xIkuVDTMDv58glizmsroQHL/zOYDdHCCGEEENHRsJ+dRLlazo4VgjRC5H6IFX3riXtlNG45uR1fcAQobUmGI7R1BymKRjBG4wYf5vDNLa53BTfb2qO0BQMH7jtte8eTabL2uu2rChfwQ/f/yF3HH0HC0cs7N39imm2/m8dy55cw9isUo7644+7X4fWeL1eKioqqKysPPA3PT2dL3/5y71qX4s9e/9JaelTzJ3zBFZrdp/UKXrnt2+/x4NBEy8fNo4pI0cOyDklwHOIcTidNCsrVY7UwW6KEEIIIYYWd8J+Mj99J/4s2WHHQil1LXAtwKhRo3rWMiEOEVFfmOoH1xMLRrCMcHd9wCB5c0M5D364Mx6kaQ3QRGK6y2OdVjNuWwqp9hTcdgtp9hTy0+yk2nv/1VRrzdNbnua3y39LYWohuc7cHtcVi2lKVley/IXN1NdGcWozmeNHdHlcc3MzVVVVVFRUHBTQCSSM5HC73eTm5jKyj770V1a+zrZtvyIn+yQslsw+qVP0XCgc4rp/v8lrmYVMCVWQ5XQN2LklwHMIyorVU2eRAI8QQggh+p/W+n7gfoB58+Z1/e1PiENULBSl5uENROqC5Fw9A+uIgftS2B3V3ma+9+waMpwWJuWlkWpPNYI1thRS7Rbc9hTS7PEAjs1y4LY0uwWXzUyKuX+yhISiIX697Nc8v+15jik8hjuOvoNUa/e/88Rimu2rKlj56i7qyv04/eXMKPsP8746DufFvzxQLhqNUltb+5lROXV1dQfKWCwWcnNzmTJlCrm5ueTl5ZGbm4vL1XfPbX39SjZsvJH0tNlMm3Y3Spn7rG7Rffurq7lk8TI2Zhdymq+K+886Eat54MIuEuA5BGVFGtluHT3YzRBCCCHE0OJN2LcnUd6RsN/Ux20R4pCiozFqn9hEaF8TnkunYBubPthN6tBdb24lEIry4jePZHzu0BhlVB2o5sbFN/Jp1adcM+Marp99PWZT9wIdsWiMbSsrWfnfXdRX+El3hpm26TFGhZcx4qq57F94Ffs/+uhAIKeqqopo1MjJo5TC4/EwYsQIZs+efSCYk5GRgcnUf2lvfb7trFl7LXZ7ATNn3o/ZnMxbt+gvKzZu5Ktby6jKGsGNKUF+dObJA94GCfAcgjKbfdTbMqirryEzwzPYzRFCCCHE0FCfsJ9MAofETkR9R4WEEJ3TMU3dc9sIbqkj47zxOKYN3fwpG8saeXrFHq44onjIBHc2VG/gO4u/Q1OoiTuPvZPTik/r1vGxaIytKypY+d9dNFQGyBrpYkH2FqJvPkzdlFyWTDiZXRUjiTz6KGBMr8rLy2Ps2LEHAjnZ2dlYLJb+uHsdam6u5NM1V6NUCrNnPYTVmjWg5xcH+9c7i7klaEU73Nw3MpWzpkwYlHZIgOcQlBX0E01P4YNlSznr1DMGuzlCCCGEGBr2YeTVcQAFSqmULlbSShwOvLVfWybE51jD6zvxf1JJ2smjcS/oOsfLYNFa84v/bCDdYeGGE4fGwnn/Lvk3ty25jWxHNo+e/iiTsyYnfWw0GmPrsnJWvrabxqoAGQU2Jp9moWLJCyzWMfxfOB0AjzuVOROnMG7cOIqKinA6nf11d5IWiXhZs+ZrhMN1zDnsCRwOyW82WKKRMD9//mUe9BSTRYCn5k5mWvbgDaKQAM8hKCtg5E3ctKuEswa5LUIIIYQYGrTWMaXURmAuRh9xFrCqk0PmJeyv78+2CfF51fT+Przvl+I6fASpJxQNdnM69fr6cpbuqOWX50wn3Tmwo1Xaisai3L36bh7e8DDz8uZx13F3kWVPbgRLNBJjy9JyVr6+k9qGKlJyfKipTWyvq2DbpxpLSgqjTD6m8BbjzvwemfPO7ed70z2xWJh167+F17eZmTPvJy1t5mA36ZDVWFfL1195nXdGTWV6sJFnTlhElr33q8D1hgR4DkG5oRgAFZ3+KCeEEEKIQ9AbGAEegFPpIMCjlFLx21u83s/tEuJzx7eqgob/7sQxM5uML47D+LcamoLhKL/67yYm5aVy8fzBDUQ1NDfww/d/yJKyJVw8+WJ+MP8HWExdB5yikRirF29j2XtraIxUErHXE/NEIAYjlIdpu3aRt3cfMy6aT0bZP+GYH8IQC+5ordm8+VZqaz9gyuTfkO05brCbdMjasXULVy1fz5ZRUznL1MzfTj0ai2nw/4clwHMIGuU0krbVOWyD3BIhhBBCDDHPALfE969TSv1Ba93ekumnA+Pj+yu11jsGpHVCfE4ENtdS9/xWbOMzyLpoEmoIfDHszIMf7mRfXYAnvraw31bBSkZJfQnfeec7lPnKuO3w2zh/4vmdlg+FQuzcsYsVH65l956dhE0+SAGn28XUydMZP348eZWV1P7gh5hcLop+/i3sH3wDxp8Mx/14gO5V8nbsvJv95c8zpvg7jBx50WA355D19uJ3uKEmRPXIMdzssfOdGbOGTIBWAjyHoKKC0Ti0jwbH4M8fFUIIIcTAUEo9DFwRv/hzrfVtbctordcopV4CzgFGAX9VSl2rtY4l1DMK+HvCYZ+pRwjRseY9jdQ+sQnLCDeeS6egUgYvYJKMisYgf1u8nVOm5nHk+MFLAP3Onne4+YObcaQ4+MeJ/2CCewLl5eX4/X78fj+BQOCg/YaGBvbu2UdMR0Er3CkeZk+fzbwjZ5Kbm4tSirqnnqb8l7/ENmECRb//BZaXL4T0Qjj/AejmKlz9rbT0KXbt+isjRlzImDHfGezmHJKikQgPPPM0v0sfjU538/DEEZxaOLTyZkmA5xA0YvJsPJs30GCXAI8QQggx1CmlxgBfbXN1YtKFE5RSbft0z2utP+nhKW8ADgfy4uedrpR6DKgBZgDX0bqC1hNa61d7eB4hDjnhSj81D2/AlGYl+8ppmOxD/+vY717fQiSqufWMKf1SfywWw+fz0dTUdFCQpiVQ4/P72Fa5jYr6Ck7iJBwxB//e9O8O6zOrFExYUZEUbMF88rMKOeaMORTPyD0wykLHYlTc+XtqH3oI17HHUPC7OzA/fzEEG+Crz4Ejs1/ua09VVy9my9af4sk6hsmTfjlkRoscSvwN9fz0yX/xrwnzyY5FeGbRNCaluga7WZ8x9N9RRJ/LyB9L1qYPqLHmDXZThBBCCNG10cCtndx+dHxLtB3oUYBHa71bKXU68BwwFlgY39p6Eri6J+cQ4lAUqW+m+sH1YFLkXD0dc+rgJmNNxpq99Ty/eh/XHTuW0Z7uf5mNRqM0NTXR2NhIY2PjQfuJ18VisXaPN5ssxGIQiypydTEpUTtEUrDGLJhiFkyxFFTMgklbMCsrLpcTZ6oNR6oVZ5qVyYvyKZiUeVBAJBYIUPajH9P05ptkfuVi8m65BfXmLbDnYzj/Qcif3uPHqz80Nq5l3fpv43ZPZvr0v2JKIt+Q6Fv7S7bx3TcW8/6Uw5mtwjx55DyyLEMzlDI0WyX6lclkwhOtp8QyEW9TE+7U1MFukhBCCCGGEK31J0qpmRijdS4AJgCpQCWwFHhIay2JlYVIUswfpvqh9cSCEXKum0mKxzHYTeqS1pqf/3sD2W4b3zp+/GduD4fDnwnUHBS8aWjE6/N+5jiTMmNRdswxG4Qd2JrTMMdsmKJWI1gTs2DSKZiVlYClCa+5gREeD+Pyi3GkWnGkWoy/buOv3W3BmWrFYjd3ObIlUl3N3m9eT3DdOnJ//COyrrgCtfZpWH4fHP4tmHFBnz1+fcHv382na76K1eph1swHSUkZeiNGPu9WvfcON+6oYOuUBZzvTuGPc2diNQ3daZUS4DlEecJefBYXn6xaxtHHnTTYzRFCCCFEB7TW7wK9Ho+vtb4SuLIb5X3AH+KbEKKHYqEo1Y9sJFITIPvq6VhHuge7SR3SWhMMBvF6vbzx6U7q9pXw1VnZLHnvHbxeL16v1wjceH00hz6bf92EBbO2osJWTBE3zlgWpqgNU9SGOWbDouy4Up240m0406w402240o3RNi2jbhypFjb41vLDj7+PRnPnsXdyxMgjen3fmrdvZ+91XydSU0PhX/5M6kknwf418O/vQvHRcNLPe32OvhQK1fDpmqvQOsbsWf/EZssZ7CYdUmLRKC/863F+YcuhavQkflKYyfXjRw356XES4DlEeZr94IT1e3Z+Zky3EEIIIYQQovd0NEbtk5sJ7Wkk6ytTsI/LGJR2RKNR/H4/TU1NBwI1LfuJ13m9XiKRyIHjjrVCxaYdVGLCrG2oiAUVtWKKZuGMWTFHrZhiNhxWF6mpqbjTnTjTrTjTWgM3zpZgTpoVmzOl0y/IWmue3Pwkd664k+K0Yv58wp8ZlTaq1/ff9/HH7PvOd1E2G6MfexTHjBngr4WnLwWnBy74J5iHzlfjaDTAmrXX0dxczmGHPYbLNXawm3RI8Tc28LcHH+DeCQuJOZw8On0MJ+cOrbxMHRk6r2IxoHKCzQDs8foHuSVCCCGEEEJ8/mitqXthO8HNtWScMx7njL5fgSoajX4mWNPevs/nQ2v9meNTTFZSlA1TzArNNixhN7aoFVMsvkWtpLrdpGa6SM1ykJplw51pJzXLjivDFg/mWDH3wUpgoWiIXy79JS9tf4nji47nN0f/Bpel91OS6p9/nv0/uw3bmGKK7r0XS0EBxKLw3NXQVA5Xvw7uoTM6Ruso6zfcQGPjp8yY8Tcy0ucOdpMOKRU7S7j96Wd5Ye5J5KYo/rVgKpNdQ39KZQsJ8ByicgJGZL5CS5IuIYQQQggh+lrj67vwr6og7aRRuBd1bynlSCTSacCmZd/vb//HWrfbjdvtJjU1lVRbFnX+EMEGMEVbAzemmBW702oEbLKNwI07y0bYZuLm1zcye5KH318xF7O57/ONBCNBaoI11ATiW7CGF7e/yNqqtXx91tf5xqxvYFK9O6+Oxaj605+pue8+XEccQcGf7sbcknv0nV/CjsVw1l+gYOgEULTWbNn6c6qr32LixJ+Rm3PqYDfpcyUWixL0egk0NRJsaiLgbSLY1Hjgr7exkX/44aOFpzHHZuKxeVPxWIdXyGR4tVb0GU84htIxGhzDJxophBBCCCHEcND0QSlN7+3DtTCf1BM7nmIUi8Wor6+noqKCiooKKisrqaiooLa29jMjbpRSB4I26enpFBYWGtOiWgI58X2Xy4XJZGLvplqWvbyDyt1NZOQ4mHBcHqlZdtyZNtzxv9Z2lmn/9r8+ocyiefy86d0K7vjD/gPBmq7++sK+zxzvtrj543F/5KTRPcsPqrUmWl1NaN8+wqVlNL3xBk3/+x8ZF15A/k9/irLEf9je+DJ8+EeYexXMubxH5+ovu3ffR2npE4wedS1FhUOrbUNNLBrF31CPv7GBoLeJQFMjgaaDAzbG3yYCXiOgE/QbI9l8DjcNaZnUp2VRn5ZFQ1oWDelZ1I8aj9fh5oIsF3+YMW5IJ1PuiAR4DlE2axoZ1NHkcg52U4QQQgghhPjc8H9SScOrO3BM95Bx9vgDOWd8Pt9BQZzKykoqKysJh8MHjs3MzCQvL49p06aRkZFxUPDG6XRiSuILZ9m2epa+XML+7Q24s2wcf9lkJi3KTypYs2JXLf9eU8Z3ThhPQYaD5mgzNYEaqgPVB7bEy4lBm0Ak0G6d6bZ0PHYPHoeHqZ6pZDuy8Tg8B65L/Gsxdzy7QGtNtL6e8L59hEtLCe/bR6i0lPC+UuNyaSm6ubn1ALOZnJtuwnPN11rz/lRuhpe+CYXz4fTfdvl4DKT95S9RsuNO8vK+yLhxPxjs5gyaWCyKv6EBX10t3roafHV1B/311tXiq6/DX1+P1rF261BON8G8Anw5+TSOLaY+LZMaRyrVNicVZivNCaPDFJBvTaHYYeMoh40jMt1cmJc55JMpd0QCPIcoR2YeHqppdMhSe0IIIYQQQvSF4NY6Kp/dhK8QKicHWfHmGwcCOj5f66gVp9NJbm4uc+bMITc3l7y8PHJycrDZbD0+d8XORpb9ewd7N9biTLNyzJcnMvXIkZgtBwd2orEo9c31B4I1VYEqI2Djr+bFdZtJH1vPYl+U5/5VTVOoqd1zZdoyDwRlZuTMwGP3tBu4ybJndRq0aSva2Ei4tNQYhdMSuGkJ6JSWEmszJc2Uno61oADbuHG4jz0WS0EBlsICrAUFWAoKMDkTfswONsDTl4DFCRc9Cik9f6z7Wm3tR2za9GMyMxYxdcpvUb2cnjYUxWJRAo2NeGvjQZq62oS/Nfjq6/DW1bYfuFEKZ1o6rsws3JlZ5I0ZB1nZ1GXkUOtMo8Jip9xkoSym2BuOUh6KkDj+zWFSjHLYmOKwcprdxmiHldEOG6PtVorsVuz9MA1xsEiA5xCVNXoCnvqdbLPl0uT1kuoeuss1CiGEEEIIMVQ1NzezbNkySnfsZf/OUhqtfqgG/gMpKSnk5OQwYcKEA4Gc3Nxc3G53n40QqN7nZdkrO9i1thq7y8LCc8eQNRfKmnfx9Pb32du0l71Ne6n0V1IdqKY2WEtURz9Tj0XZaNZuijPzmJBZwOGORWQ7sg9sHoeHbHs2WY4sLKbkgzY6EiFSU0u0pppIdTWR6hoi1dXG5apqIjXG5UhlJbGmgwNKJpcLS2EhlqIinIcvMgI3hYVGIKegoDWnTldiMXjx61C3C674N6SNTLr9/a2paRNr130Tp3MMM2b8HZNp6ASekhUJhfDW1eKtraaptsYI4tRU462toamuBm9NDb76WmLRz77unOkZRuAmI5Oc0WNxZ2XhyjACObaMTGqdaZSl2NjZHGGNP0iJv5nt/maqw/HV3kJASJNnjTHaYeNIt5NiRzyIY7dS7LCRY+189bbPEwnwHKLyxhxG9icrWJWSyuZPVjL/6OMGu0lCCCGEEEIMK9FolGeffZbt27eTjhNPShqzF8whv2gkubm5ZGVlJTWtqrv8YT9bdu5k3WvlNG1SxCwRKqZu5JO8d/hzxW5ir7aOgHCkOChMLWSEawRTPFMOjLZJ3GwqnTP+tIKJWQ5euOCILr8M61iMaG1tQsCmimhNTULApopoSyCnvh7aWcHL5HRizs4mJTsb29ixuBYujI/AMQI41sICTOnpffPF/IO7YMt/4bTfwugjel9fHwkGy1iz5qukpLiZPeshLJa0wW7SQbTWNPt9BwI2LcEaYxRODU3xIE6gqfEzx1rsDtxZHlKzPBRNm4E7y9O6ZWbhzvTgTM/AZDZTFYqw3d/MjkAzH8eDOCX+ZnaXBojq1ql/WRYz4512Ts5OY6zDxninLR7MseH8HI3C6Q0J8ByiXJkj8MTqiJhT2LhjqwR4hBBCCCGE6AYdifHaC/9h+/btHJ0ynSkUkvv1WaRk980iJg3NDext2suexj0HRuHsbdpLTWUTY7bPZ2LVfKKmMOsK3mNn8SryMrOZljaZ01JPpii1iFGpoyhKLSLbkd1lkOSO1zZT7W3mH1fMQyll5LuprT0wPSq0Lz5VqmW6VFkZOiF3UAtlt5MSD9pYRo/CMXcOKZ5sUnKyMXs8B25L8XgOnj7Vn7b9Dxb/CmZ+CRZeNzDnTEI43Mina64mEvUxb+4z2O3dW2mtrwWaGqnes4uqPbsO/K3Zt5dw8LO5lZzpGbgzPaR6shk5cTLuzHjgxpNNapYHd1Y2tjbPb1RrtvqCbPAF2RFopqTCx/adNezwN9MUbQ1I2k2KMQ4bU9x2vpibwTinjXEOG2OdNjItEr7oijxCh7DskB8csKux/bm1QgghhBBCCGMkQ6QmSHhvE6G9TTTvbWJN+SZWmrcwPVLEVMcoPJdO7XFwp6G5gfXV61lbtZa11WvZUL2Buua6g8qMMo1jXumpzN89AWWC9HmaaScVctWIm0m3pXf7nNGmJsL79lG6qYTqf33A751BPL/6DztK9xEqLUO3yXdjzszEUlCAbcoUUk8+iZT8EaTk5JCSbQRuzJ5sTC7n0JoKU1MCz38V8qfDmXdDP7VNa0006iUUqiUcqSccqiUcriMcriccriUcricUrotf17qBYvbsf+J2T+qXdrUnGglTW1ZK9e6dBwVzvLU1B8o4UtPIGV3M9ONPIi0798DIm9SsbFyZWaRYup6iF4rFWNMUYGm9l6X1PlY0emmMtAZyCmwWxjvtXJDvYpzTGI0z1mGj0G7FNJReQ8OMBHgOYTnBIDigUstwNiGEEEIIIVpEvSFC+7yE4gGd0N4mdMDI+aGsJvZn+/nYvJVx+cWc9aUvYcmwJx3YCMfCbK3byrqqdayrXsfaqrXsatxl1I1iXMY4jis6jnEZ4yhKLSJXjaR6iWbzBxXomGbq0SOZe3ox7syuc7VEvV6at26jeesWQrv3xFeeMhIYxxpbp9V8FcDlIlxYiGXUaFxHHJEwXcqYMmV2D7PFWUI+ePoyUCb40uNg7dmIoVCoBq9vKz7fNpqbKz8TpGkJ5Ggdafd4pcykpGRgtWZhScnA6SzGkjIbizULT9axZGYu6M297JDWGl9dLVV7dlG1eyfV8WBOTek+YlGjrSZzCp7CIkZNm0n26DHkjComZ/QYnOkZ3Q7UeSNRVjb6WFbvY2mDl08a/QRjxtS8CU4bZ+VksjDDxTS3g2KZUtVvJMBzCMsONEMm1FqG2Zu1EEIIIYQQfUSHo4TKfAcFc6K1QeNGBZY8F84Z2VgLU7GOSqVO+fjfQw+Sm5fLRVddjLWTla+01pT7yllbvZZ1VetYW72WjTUbaY4ay3m3rEJ19vizmZE9g2meabitxuInQV+YT/63h48W7yMaijJpUT7zzxhDWjujhHQkQmjPHpq3bCG4dSvNW7bSvGUL4dLSA2WUzXZglSnHrFlYCwvZYU7j5qW1XHDGfK4787ChNfqmp2IxqNsJb/8CKjfCpc9DZnGXh0UiTfh82/B6t8YDOlvxercSDreObFHKjMWSeWBzOsdisWRgsWRhtWQe2Df+ZmKxZJGS4u63VbG01oQC/gOrUTVUVlC1ZyfVu41ROUFv60wNtyebnFHFjDls3oFgTuaIAswpPQsJVIciLG/wHgjorPcGiGowATNSHVwxMpuFGS4WpLvJtkrYYaDII30IcwXBqpupsyeZfV4IIYQQQohhLlIbpHlnw4FgTni/D+IjDczpNqyjUrEuHIG1KBVLoRuT1XzgWJ/Px5MPPElKSgoXX3zxZ5Y194V9bKjecCCgs656HVWBKgCsJitTPVO5aNJFzMyeycycmYxwjfhMUKW+0s/WZeWseWcfoUCECfNymX/mGDLzjR9lIzU1nwnkNJeUoJuNoBEmE9YxY3DMmknGhRdgmzgJ+6SJpIwYgUpI+ByJxvi/v3xIcIyHK0+bNTyDO81NULERKtZB+Xqo2GAEdUJe4/YTfwbjTzzokGg0iN9fgtcbD+L4tuLzbiXYXHagjNnsxOWaQHb2CbhdE3G5J+J2TcBqzR2wxykUDOCtrcVXZywr3t7S4t66WiItz3tcis1GTlExExYeYYzIGTWG7FHF2Hu5avLeYIhl9V6WNfhYWu9lm984r92kOCzNyXdG5bEww8W8NBfuFHMXtYn+IgGeQ5iKOPBQTZNTlkgXQgghhBCfT1FfmOaSepq31xPcXn9gdI6ymbEWpZJ6TCHWolSsRamY06wd1hOJRHjqqafwer1ceeWVZGRk0NDcwMdlH7N0/1LWVq+lpL6EmDbyjIxOG83CEQuZkT2DWTmzmJg5EYu5/dwldeU+SlZXUfJJJdV7jeBE8fQsDpupcNZsp/nhV9mzdSvBrVuJVlcfOM6cnY194kQyL74Y2yQjkGMdNw5TJ6OKWjy1Yi+by5u455I52C1D/Au51lC/Ox7EiW/l642ROi1s6UaundmXQP50YvnTCaSn4a38L76EUTl+/27AeI6UsuByjSM9Yx4FBwI5E7HbC/pt1A1AONRMzZ7d1FfsNwI29XV4a2sOBHC8dbXtJjdOsdoOLCOeN2Y84+Zm4cpsWZUqi1RPDum5eQcF8rojEtPUhCNUhsJUhiLsDYZYEQ/olDYbSbXTUkzMT3NzUX4WizLczEx1YOuHleJEz0iA5xCmlAsPVVQ5C/H5/LhcA5TJXgghhBBCiH4SC0UJ7WwgWFJP87Z6Y4QOoOxmbGMzSD2qANu4dFJynChTcqMxtNa88sor7N27l/mnzOfl6pdZsmYJ62vWE9MxUi2pzMyZyUmjTmJG9gxmZM8gw57RaX21ZT62r9hPycpy6qqNL88eaxPTdAnZpcsxf7CehmiUBozpVbbx43EffTS2SROxT5qEbeJEUjyeHj1GDf4wd725hQVjsjh9en6P6ug3IR9UboLydcaInIr4yJzmlpxBCrLGwoiZxGZdTHPOSPypTvzKRyC4B79/F4HAYwS27EXr8IFjHI7RuN2TyMs980Agx+EYjcnUdcLg3vDV11G1aweVu3dStXsnlbt2UFdWitatCYdTLFZc8cBNzugxjJk9F1dmFu4sD66MzPgqVVlYHd1PYq21pi4SpSoUoSoeuKlsjv8NhakKtQZ0asMR2i5on2tNYVGGm2+mu1iU4Wayy455OI72OkRIgOcQZnVlkk01O20T2bx2NXMPP2qwmySEEEIIIUS36KgmtK/pwAid0J5GiGowK2yj00g7dTS2cRlYC1JR5u5/MS33lfPimy9SsbaCbdnbeH7b85iUienZ07lu5nUcWXAk0z3TMZvaHwUTbWwktGcvoT17qNxSwe49Mfb5MvGZ0kHHyGgoYULVJ+RWfYo9JYy1qAjrmCKsJ1+DfeJEbJMmYR01CtXDXCnt+dPb26gPhPnZF6cO3tSsaMQYgVO5Kb5tNII5NSXQEmawphLLm0pw1hkEsrLxu+z4U5oJhMoIBHYTCCxHV4ShwihuMjlwOkfjck0gJ/skXK4JuNwTcTnHYzbb+/XuxKJR6vaXGoGcXTsOBHP8DfUHyqRm55AzegwTFx1J7uixZI4YaSwp7nL1+HkIRmNs8wfZ5Auy0998IFjTErypCkUI67ZhG7CZFDnWFHKtFkY7rMxPdx24nBv/m2ezUGCzDM/pe4coCfAcwlJzCvGwC5/FScnWZRLgEUIIIYQQQ57Wmkiln+B2Y9pV844GdHPUSIg80o37qALs4zKwFqcdlD8nWc3RZlZVrOKj0o9YUraEQGmARZWLqEyvZOzssVxWeBmHjzj8oKXJI1VV+HfvNgI5e/cQ3rOX0F4jqFMfTaMy5zCqcg4j4BgFOoYnup/xzn2MGpVC+riRWIquwzqqCLPH0+9fprdXenn04118eX4R00Z2f3n1bovFjOlVlZugahNUbjb2q7dCPNl0TCmCuUX4C4oITJ+C32EhYA7ij1QQDO5G6xLwA34jP47DUYzbNZmcnFNxOopxOEbjdI4esBw5zX4/VXuMETktwZzqPbuJhENAfHWqolGMmT2XnNFjyS0eQ/boMTjcPc99GtOa3YEQm3wBNnmDbPIF2OwLssPfTMtYIBOQHQ/O5FhTmOxyHAjW5Bz0N4W0FLMEbj6HPlcBHqXUG8ApCVddpbV+OInjTgOuAhYBeUAjsA14Drhfa+3rRhsOB64BjgVGAEFgJ/AicK/WurqTwweUp3gqnn0rAdhZ3zDIrRFCCCGEEKJ9kYZmI5gTH6UTazK+SJs9dpyzc7CNy8A2LgOzq/vTbbTW7GzcyZLSJXxY9iGrylcRjAaxmCwsci4irzoPzwgPt159KxaLUX+4ooKGZe/hW7oM/7JlB61WpU1m/GPmUjXyaMrnjMUfs6OUZuQoO+Pmj2T8wgIcqR3n+ulvv3p1Iw6Lme+dMqlvK9YaGvZB1WZjNE7lZiOgU7UFHfbTbDURsJsIZuYQGOEhOGEmAasmQBPNkVqMCM4W0GBuduN0jiY1dRp5uV/A4SjG6TQCOVZr9oAGJnz1dVTs3E7Fju1U7TKCOvUV+w/cbnenkls8hlmnnB4P5owlq6AQc0rPp35VhcIHBXE2eYNs8QUJxOK5g4DRDitTXA6+mJPBZLedKS4HYx02UpKcdig+nz43AR6l1BUcHNxJ5hgb8DDw5TY35cS3I4DrlVLnaa3XdlGXAu4CbsD4n2vhADKBOcC3lFJf0Vq/05129pecwtlk77sLgIroIDdGCCGEEEKIOK014f0+AhtqCKyvJlLhB8DksmAbn4F9vBHQScnq2bSbplATy/cv58OyD1lSuoQyn7GCUnFaMedPPJ8jRh7BRPtEHn/4cVLSUrjsC2cT+N//qI4HdEK7dxvtSU/HtWA+mZddRn3qGPbVudi5PYCvPoTJrCiamsW4w3IZMysbew+CT31t8ZZKFm+p4pYvTCbb3XUi5g41e2HfigOjcnTlRsK1WwiaAgTsJgJ2M8FUN4FCF4FxuQRVAE3LF44wUIHNlofDXkSm4zAc9iIcjkIczmKcjtFYLP0/kqk9vvo6KnYYwZyWoI63tnWZ9Iz8EeQWj2XasSeSU2wEc9xZPW+rLxJliz/I5ngwxwjqBKkJRw6UybakMMVt57KRHia77Ux22ZnksuMyD/HE2GJQfC4CPEqpXOAP8Ys+wJXkoY8AX4rv1wD3A+uAbOBSYAEwDnhdKbVQa723k7p+A9yY0IYHgeWAGzgfOBljdNDLSqmjtdafJtnGfmNxpuEJ+8AKtRbHYDdHCCGEEEIcwnTMyKXTEtSJ1gRBgbU4jfQvjME2IRNLXvKJkRM1R5tZW7WWpfuXsnz/ctZVryOqo7gsLhbmL+SrM77KESOPoDC1EABfRQX/fOgRQn4/x69fT9m99wGgXC5S5h8FX7iC5hET8JLG1ooAVRubCDSGMKc0MWpaFuPOzaV4hgebc/CDOi3C0Ri3/2cjY7JdXHnEmJ7VUb0e7+o/49v7Jn5LyBiR47QSKDYTHWsDWoNGFksGdnshqY4icu2F2B1FOOyFOBxF2O0jMZl6EWDqA50Gc5Qic0QBhVOmkzd2PHljx5NbPA6bs3eL0lSFwnxc72NJvZcldV62+YMHkho7TCYmu+ycmp3GFJeDKW4jkJNjHTqvITH0fS4CPMBfgCzgE2ADRnCmU0qps2kN7uwBjtZa70m4/W/APzCmbo3ACCBd2EFdhwE/jF9sAI5pM+LnPqXUbcDPMAI+98cDRp/NdjXAcoIhsEK9PW2wmyKEEEIIIQ4xOqYJ7WogsL6GwIZqog0hMCls4zNIPaYQx1QP5h5MZ4rEImys2cjy8uUs3b+UTys/pTnabCRH9kzn6ulXc8TII5iVOwuLyUK0qQn/ipVULHucpmXLeDsnh+qRI5i9bj8NniOoOP9SfClZNDRBsz8Cm4BNjaRYvGTkOymanEnxjGxGz/BgtQ/Nr1iPfbybkiof/7h8HtaUzpe1jkSajGXFvduMv7Wr8Xm3EDKFjG+QY8yYVQZ2ewEOZzEZjiIc8QBOSyAnJcU9MHcsCd662oOCOZU7tuOtqzVuVIqsEQUUTZ1hBHPGjCd3zFisjt6vMFwdivBxvdcI6NR72eILAuAym1iY7uKcvAymuOxMcTsYZbdikpw4opeG5rtPNyilzgIuAmLAtcC3kjz0toT9byQGdwC01jGl1PXAicAo4AKl1HSt9fp26voprdOybulgOtfPgdMxRgXNB74AvJpkW/uNNWglzd1Io2PovAELIYQQQojPLx2J0VxSb4zU2VBDzBeGFBP2iZmknerBMTkLUzdHvsR0jG1121hevpzl+5ezsmIl3rAXgImZE7lw4oUsGrGIOXlzSLWmEvP58K9eTeWjf6FydQl15T78jlz87pHsG38ije5q3I3jKc09llLAGbaS6XEyfpKLzDwnmflOMvKdpGbaezSiaKDV+kLc/dZWjp6QzYlTcg9cH4n48Pm34/Nuw+fbagRzfNtobi4/UMYcU7i8ITzNJlxZc3FPvBhX3hHYbCOGZJLecKiZ/Vu3sG/Teip2bKNiZwm+xGDOyEKKps8ib8x48saOI7e4b4I5ADWhCEsbvHxUZwR0NscDOs54QOeCvEyOzHAzM9UpuXJEvxjWAR6lVBpwT/ziX7XWK5N5k1FKTQBmxy9u01r/t71yWuuAUuoB4Jfxqy4CDgrwKKVSMQI3YCRnfriDurRS6i/AY/GrvsQQCPAQdODRtTQ53Pj9AZxOmaolhBBCCCH6lg5HCW6tM0bqbKpBB6Moqxn7lCwc0zzYJ2VhsiWfU0Rrzd6mvSwrX8ay/ctYUb6C2qDxJX5U6ihOH3M6C0YsYH7efDwOD1prQiUllP/jBZatrKTSn4rPkUvINhsyZkMGKAXkVtOoNjIqexJHnHocGflOMvOcQ2qqVXdVNAa5/d+r8dh2cdNRaZSUvIvXtw2fbxvB4L4D5UwmKy7nBDLT5uKqb8K9dRmuqv3Y7QWoRd+Dwy4FW89Xgeov4eYgZVs3s2/jOvZuXE/59i1EIxGUMpFVUMjo6bOMKVZjxxvBHHvffd+pDUdYGh+d81Gdl03xgI7DZAR0zs/L5Ih4QMciAR0xAIZ1gAf4HVAA7AN+0o3jTk3Yf6OLsq/TGuA5DWO0TqJjaZ1s+r7W2t9JXYnnOq2rRg4EHXaQrSrZbpvMpnWfMnfh4YPdJCGEEEII8TkQC0YIbqklsL6G4OZadDiGcqTgmJaNY7oH+/hMlKXzqUKJKnwVLC9fzrL9y1hWvoxynzHKJNeRy5Ejj2TBiAUszF/ICPeI+PmD+JcvZ9fbSyhZV0eZbQKN6WPBWkRGqp+iAjfZUwrJKkonM99JjXc/Tz75IePHjufiiy/CPMyS2IbDjQQCuwgE9uDz72ZnxRYq60qw6P2cM6KBc0ZAbSnUKQtO5xjS02YzcsSFuN0Tcbkm4GhWqBX/gLcfheYGKFoEZ/0GJp8JpqHzWISCAcq2bGLfpvXs3bCO8pJtxKIRlMlE3tjxzPnC2RROnU7BpKnYnMmmZk1OXUJAZ0m9l41eI4eOw6RYkO7mnNxMjsh0M1sCOmKQDNsAj1LqGIwpWQDf0lo3dePw6Qn7q7oo+ykQBczAVKWUapM7J+m6tNZVSqndwGggRymVq7WuTL7ZfU9F7XhUBZ/Y57B7yycS4BFCCCGEED0WC0UJrKsmsK6a4LY6iGpMqRacc/NwTPNgG5uOMicX1AnHwqyqWMXiPYtZUraEXY27AEi3pbMgfwFfm/41FoxYQHFa8YGpQuH9+6n7z1PUvfsRu7cHKc+aRV3mXHSumQxXhAWH5zLp+HGkeQ4exVFdXc1zzz2Hx+PhggsuGJLBHa01oXANAf8uAoHd+AN7CAR2Ewjswe/fTSRSf1D5+mAavuZc3O55ZOVNYWTOJNyuiTgcozGZEkYk7VsF7/0SNrxkXJ56Nhx+PRTOG7D71plQwE/plk3xETrrqNixnVg0islsJm/seOadeQ6FU2dQMGlKn021ahGOaVY2+lhc08ji2ibWewMHAjrz0l38aEw+R2S4mZ3mxGpKPlgpRH8ZlgEepZQdeAAj782LWuuXu1nFxIT9XZ0V1FpHlFKlGHl4XLSOGOp2XXEtAZ6WYwc1wGOypJJNNRFzCqXVVYPZFCGEEEIIMUyFy314l+3H/0klOhjFnGHDffhIHNM9WEelJZ2nxhvy8mHZhyzes5gPSj+gKdSEzWxjfv58Lph4AQvyFzApaxImZXyZ1pEIgdWr8b77Hg3vfcj+WivlufOoyT6T2HgLbhccdkQhExeNxFPQfs5Jv9/Pk08+iclk4itf+Qp2e8+WXu8r0aifxsZ1+P07jOBNPIgTCOwmGk2cLGDCbh+JwzGaiPU4Pq12s2S3nXJfNuNHTODC+RO5fGp++wmVY1HY/Cp8/DfYuxRsaXD4N2HBdZBRNGD3tT3Nfj+lWzawd8O6eB6d7ehYDJPZTP64icw/63wKp0xn5KQpfTrdqsW+YIjFtY0srmni/bomvNEYKQrmpbn4wZh8jowHdGwS0BFD0LAM8GCsRjURaAK+3YPjMxL2q5MoX4MR4Gk5NjHA05O62jt2UDjSPGRRAkB5ZNAX9RJCCCGEEMNELBQlsLYa3/L9hPY0QYrCOT0b18IRWIvTkk7AW+Gr4N2977J472KWly8nHAuTYcvghKITOH7U8Rw+4nCcltaRGZG6Opo+/BDvu+/R9OFH1Kg8KvIXUDXiWiIjrdidJqYtGMHEBfnkjem8HZFIhKeffpqGhgauuOIKMjMze/uwdFswuJ+GhlXUN6ymoWEVXu8mtI4CoJTVWJ3KMYrMjIU4HKNwOEfjdIymIeThuVUVPPX+XkrrA3hcVi6YV8iX549iTHYHU5Oam+CTJ2DpPVC/GzJGw2l3DGp+HR2LUbp5IyWrl7N3wzoqd5agdQyTOYUREyay8JwLKZwyg5ETJ2Pph+BbMBpjWYOPd+JBna1+I49Ogc3CuXmZHJ+VylGZqaSlDL1RXUK0NewCPEqp2cD34xdv1VqX9qCaxPB9MInygYT9tu98fVnXAUqpa4lPQRs1alRHxXotfcRYspuXAVBtkQTLQgghhBCic21H66TkOEg/YyzOObmYXV0nI9Zas71+O4v3LuadPe+woWYDAEWpRXxl8lc4ftTxzM6ZjTme90VrTXDzZrzvvof3vffwr1lDk6uIylFHUTHnpzRrGxabifGH5TJhQR6FkzIxJTENTGvNq6++yu7duznvvPP6tc/des4oXu8W6htW0dCwiob6VQSbywAwmeykpc1i9KjrSE+fg9s9CZstD6VaAwvRmOaDbVU8uWwPb2/eRDSmOXK8h5u/MJlTOhqtA1C3G1Y8AKsS8uuccjtMPmNQ8utordm/bTNblnzA1qUf4q2rxZySwogJk1l43pcomjqdERMmYbH1z2iqnf5m3o4HdJbUNxGIaaxKcXiGm6+MyOJ4TxoTnbYhuUqYEJ0ZVgEeZby7PYjR7hXA3wa3Rf1Ha30/cD/AvHnz+m1ojadwJp6SvwBQb5Ol0oUQQgghxGd1OFpnwQisXYySAYjEInxS+QmL9y5m8Z7F7PMaA+JnZM/gO4d9h+OLjmdcxriD6tFa4/vgAyp/fxfNW7fic+ZRM+10yk+8DG/YhilFUTwjm4nz8xg93UOKtXuBio8++ohPPvmEY489lpkzZ3b/QUlCJNJEQ+MaGurjAZ3GT4lGfQDYrHmkZ8ylKP1qMtLn4nZPOTg3ToKKxiDPrtzLv5a3jtb52tFjOh+tU7cbNr4MG1+C0lWgzDDtHFh0PRTO7Zf72xmtNRUl29j8sRHUaaquwpySQvHseRxzxNGMm7ugX6ZcAfiiUT6q87K4tonFtY3sCoQAGOOw8pURHo73pHF4hgvXEMy9JER3DKsAD/A9YA4QAa7RWsd6WI83YT+ZsHDiO03bZM59WdeAyxgxhbTtjaQQodGZNtjNEUIIIYQQQ0hvRuv4w36WlC1h8d7FvL/vfeqb67GYLCwcsZCrpl/FcUXHkevMbffY4KZNVPzud3iXrqBi2pmUn3k9dd4UlIKCcZksWJDH2Nk5PV6+fNOmTbz11ltMmzaN4447rkd1tKW1Jhgsi0+3WhWfbrUFiAEm3O5J5OefS0b6XNLT52K3j+w0MHbwaJ3K5Ebr1O5sDeqUfWJcN2I2nHQbTL9gwPPraK2p2r2TLUveZ8vSD2moKMdkTqF41mEc9aXLGDdvYZ+vdNViqy/I2zWNvFPbyLJ6HyGtcZhMHJXp5trCHI7PSmOM09Z1RUIMI8MmwKOUGg/cFr/4R631ml5UV5+wn51EeU8Hx/Z1XQPObHVgDjnJMjfS5HDj8wdwOWWqlhBCCCHEoao3o3WisSj/3flf3tj1Bh+XfUwoFiLNmsYxhcdwfNHxHFlwJC5Lx1/ow/v3U3X3n6h/5d9UFh/DrlP+gK85hVxPKkd9IZ/xc3NxpffuS3l5eTkvvPACBQUFnHPOOb2ahhOJNFFV/TbV1W/T0LCa5mZj6Xaz2UV62mzGFH+L9Iy5pKfNIiUluRw39f4QTyzbw5PL9iQ3WqemxAjobHgJytca142cAyf/wlgRK7O4x/evp6r37GLL0g/ZsuQD6vaXokwmRk2fxcJzL2LC/COwu/tn5kAgGuPlyjoeLathdaORkHqSy87VhdmckJXGwgyXJEcWn2vDJsADXIIx+kUDEaXUTzoolzi+8otKqcL4/pta6+Xx/a3A8fH94s5OqpRKwVg5C8AHtM35szVhv9O64kYn7G/tsNQAMgXdeBz11NrS2bxxPXPnzR/sJgkhhBBCiAHW29w6S8qW8PuVv2db3TZGukZy0aSLOL7oeA7LOwxLB1OPWkSbmqh54B/UPPIIVZnT2XXS72gKO8jNT+XEs8dROCWzz/KhrF27llgsxpe//GUslu6PAAqH66mqeovKqteprf0QrcPYrHlkZC4gPX0uGelzcbkmYjJ176tWWX2Af3ywk6dW7MEfinLEOGO0zslT87C1TfBbvS0e1HkZKtYZ1xXON/LqTD0bMvo/n1BbtWX72LLkA7Z8/AE1+/aglImiadOZd+a5jF9wOM609H4793Z/kEdLa3i6vJaGSJQJThu/GD+SM3IyKLBb++28Qgw1wynAoxL+3pzkMefFNzCmUrUEeNYnlJkLPNxJHbOBlnfUjVrrtvlw2tbVIaVUDq0Bniqt9aAukX5A0EGOo5o9tnz2bF4nAR4hhBBCiEOEjmn8n1TiWxYfrWNWOGZk404ytw7AjoYd3LXyLt7f9z4F7gLuOvYuTh59clLH6nCYumeeoeqvf6OKPHYf+TPqY+lkepycdvZYxs7O6fNEt4FAAKfTSWpq8qtGhULVVFX9j8qqN6ir+xitI9jthRQVXk5u7umkpc1CqZ6NDNla0cS975XwyqdlaODsWSO59tixTM5vkz6haosxSmfjS1C50biuaCGc+huYehakFzLQ6sv3s+VjI6hTtXsnKEXBpKmccPXXmbjwSFwZ/bcqWSgW4/XqRh4preajei8WpfhCTjqXj/RwRIZbEiSLQ9JwCvD0pTcS9k/touxpCfuvt3P7u0AzYAOOUUo5tNaBdsq1PVd7dQ0KHbTjUVX4rQ6qynuyKJkQQgghhBhuQqVe6l7YRrjU2+3ROgD1wXruWXMPz2x5BkeKg5vm3sRXpnwFm7nrKVRaa5reeouqu/5AVa1i56xvUWvOJzXDzolfHMPEhfmYTP3zBT0QCGBPYrnt5uZKKqveoKryderqlwMxHI7RjBr1NXJzTiM1dXqvgggrd9Vy73slvLWpEofFzKWLRvO1o8dQmBlfEl5rqNzUmlOnajOgYNThcNpvjaBO2sgen783dq/7lA+efJiKHdsBGDFxMsdfcQ0TFh1JalYyWSt6bm8wxBNlNTyxv4aqUIRCu4Vbxo7g4hFZ5Fh7lpNJiM+LYRPg0VrfRmsOng4ppR4GrohfvEpr/XA7dW1TSn0CHAZMUEqdrrV+rZ267MA1CVc9005dXqXUf4FzgTTgSuDv7dSlgG8lXPV0V/dlwETseMxlaKWoCEUHuzVCCCGEEKIfxUJRGt/ag/fDfZicFrIunoxjZnbSwYpwNMyTm5/kvrX34Qv7uGDCBXxz9jfxODxdHwwE1qyh4nd3UrV5Pzunf5mq4nE40qwcfXox044aidnSvzlSgsEgDkf7OSeDwTIqq96gsvJ1GhpWARqXawLFxd8kN/d03K5JvQrqxGKaxVsqufe9ElbsqiPTaeGGkyZwxeHFZLriU4lCfvj4r7DuWajeCigYfSR84fcw+UxIG9Hj8/eFoNfLq3++E6vDwTGXXs2kRUeRltN+suy+EtWad2oaebSshrdrGtHASZ40rijI5visVMwyWkcIYBgFePrBz4GX4vt/V0odo7Xe03KjMsZY/g1omcD6nNZ6Pe37JXAOxvSx3yilPtJar21T5qfAwvj+Cq31q72/C31D4cBjMhLCVacksxCYEEIIIYQYjoJb66h7aTvR2iCuBfmkn1aMKcmVqLTWvLPnHf6w6g/sadrDkSOP5Pvzvs/4zPFJHR/au5fKP/yBindXsWvSeZTPn4HNYWHRqaOYeXwRFtvALFEdCATIyMhIuLyHysrXqax6g8bGTwFwuyczdsx3yck9DbdrQq/PGY7GeOXTMu57v4StFV4KMhzc9sWpXDS/CKc14SvZ3hXw0tehZjsUHw0Lr4PJX4TUvF63oa989MxjBJuauODWX5JbPLZfz1UVCvNkWS2P7a9mXzBMjjWF74zO45KRHookt44Qn9HtAI9SapLWekt/NGYgaa1fVko9DXwJIy/OaqXUfcA6jJWuLgcWxIvvB27qpK5PlFK/A34EpANLlFL/wMj54wbOB06JF/cC1/b9Peo5iz0ND7sBqLcnPxdZCCGEEEIMD1FviIZXd+L/pJKUHAc5187ENjb5pLebajZx58o7WVG+gnHp4/j7SX/nqIKjkjt3fT3Vf7+XsudeZdeo09i/8GeYLWbmnljE7JNHYU9ySlhfCQQCjBxpZteue6isep2mpg0ApKZOZ9zYH5CbeypO55g+OZc/FOGp5Xt58MOdlNYHmJSXyh+/NIszZ47EYk4YqRQJwXt3wId/hLQCuPwVGHtsn7ShL1Xs2M6aN19j9qln9FtwR2vNknovj5TV8FpVA2GtOTLDzU/HFXBadhpWWQVLiA71ZATPRqXUB8ADGKNamvu4TQPpCoxVub6MEdS5pZ0yJcB5Wuu9XdR1M0Yenu8CrvjftiqBi7XWn/a0wf3BmZmPh3cBaHBKgEcIIYQQ4vNCa41/dSUNr+4g1hwl9cRRpB1XhEpyGlSlv5I/r/4zr5S8QoYtg1sX3soFEy8gJYkVomLNzdQ9/gRl/3iMnZ4jKZ3/UzCnMP2YAuaeNrrXy533hNe3jdHFL+FOLaVkB6SlHcb48TeTm3MqDkdRn52n1hfi4SW7ePTjXdT7wywozuL2c6Zz3KR2kkaXr4cXr4OK9TD7Ujjt12DvvxWnekrHYrz90N9xpKVxxEWX9Hn99eEIz5bX8WhZNdv8zaSnmLmqIJvLRnqY4JJZBkIkoycBHgUcHd/+rJR6HHigk+lLQ1Y8OHWxUuoR4GpgEZALNAHbgGeB+7XWviTq0sCNSqlnMEboHAOMBILADozpYH/XWlf3w13plfS8CdQ2BXFGgjTa3fj8AVzO9uclCyGEEEKI4SFSHaDuxW00lzRgHZ1G5nnjseS5kjo2EAnwyIZHeGj9Q4RjYa6YdgXXzLyGNGtal8fqWIzG/77G/j/9jRLzFPbO/DExk4VJi/KZf8YY0rIHvp8ZDtexY+ef2LfvSdxuE0qdzxGH34Dd3rdJivfV+Q8sdR4Mxzh5ah5fP3Ycc0e3s5pUNAJL/gSLfwOOTLj4KZh0ep+2py+tf+8t9m/bwmnfvBG7y91n9ca05p49ldy1q5xATDMnzcndk4s4OzcTh1lG6wjRHT0J8PwHOB1j6fBMjMTB31JKLQfuB57WWvv7rondo7W+EiPRcXeOeZ0+WtVKa/0x8HFf1DVQckbOYucW8ISb8NqdbNm8mTlzDhvsZgkhhBBCiB7Q0RhN75fS+PYelFmRcc54XAvyUUmsShXTMV7d8Sp/Wv0nKvwVnDz6ZG6ccyNFacmNbgnt28fe7/2I7TWZ7B57PWGTg3GH5bDgrLFkjUguuNSXYrEw+0ofZ+fOPxOJeMnLvZCXXopx8snn9mlwZ3N5I/e+W8K/1+7HpOCc2QVcd+xYxud2MDq+eruRa2ffCph2LpzxB3Bm9Vl7+lrA28QHTzxMweSpTD3mhD6rt7I5zLc37eG9uiZOz07npuI8ZqQ6+6x+IQ413Q7waK3PUkqNxBjxcjVQHL9pQXy7Wyn1JMaontV91VDRf1x542GTiZxoE7tsHnZvWiMBHiGEEEKIYah5TyP1L2wjXO7HMd1DxlnjMKclNxXqk8pP+N3y37G+Zj1TPVO54+g7mJc/L+lzN73zDjv+7w5WTbyGQKaHoqmZLDp7HLmjux710x+qqxezbfuv8ft3kJV5JBMm3Eow6CES+WuHq2j1xD8+2MHtr27CZTVz1RHFfPXoMYxI76D+WAxWPAD/+xmk2OD8B2HGBX3Wlv7y0VOPEvR5OfHqb/RqFbFEi2sa+famPXijUe6cVMilIzx9VrcQh6oeraKltS4DbgduV0qdhLGU+NmAFUjFmKJ0rVLqU4xRPU9qrZv6pMWiz5lSLJiaXeToBtY7iqjdWjrYTRJCCCGEEN0Qa47Q+MZuvB+XYU614rlsKo5pyS1bvq9pH39c9Ufe3P0muY5cfnXUrzhz7JmYVHLTY3Q4TOUf76b8sWf4ZOGPibg8nPX1mRRNGZwRKV7fNrZv+zU1te/jcBQza+YDeDzHo5Sirs5Iq2m3901Ol78t3s6db2zhCzPy+c25M0nvbEWy+j3w8vWw830YfzKc9ZdBX/I8GeUl21jz1uvMOe2L5IzuffLpUCzGHTvKuWdvJZNcdp6bNo7JLkkPIURf6PUy6Vrrt4C3lFLZGEmLvwpMjt88G7gH+H18xap/aK2X9vacoh8EXeRaagilWKj1d5lySAghhBBCDBGBjTXUv7ydaGMI9+EjSTtlNCZ7ct38TTWbuOy1yzApE9+c9U2umHYFTkvyU2TCFRWU3vQ9mj7dwPoTfk6QNM761mxGTsjo4b3puZY8O6WlT2I2O5kw/lYKCy/FZGpdTjsYDAL0egSP1pq739rGn97exjmzR/L7C2eR0lG+GK3h0yfgtR8DGr74Z5hzOQyD0So6FuPtB+/BmZbeJ4mVdweauW7Dbj5t8nP5SA8/H18geXaE6EO9DvC0iCcPvgu4Syl1FMaongsAB8aqUlcBVymlNmKM6nlMa13fV+cXvRS0k20rB6DaNPArGgghhBBCiO6JNoaof2U7gfU1WPKdZF0yBduo5KdDRWNRfrn0l7gtbp468ynyXfndOr/3o48o+/4PCIeibD77dzTWp3D6N6YPeHAnFgtTWvoEO3b+mUikiYKCrzB2zHexWj87gigQCAC9C/BorfndG1v4+7slXDC3kN+ePxNzR/mNmirg39+Fra/B6KPgnL9BZnGPzz3Q1i1+k/KSbZz+re9hc/Yuh9KLFXX8YMtezErxj2nFnJmb0TeNFEIc0GcBnkRa6w+BD5VS3wF+BXwzfpMCpgJ3A7+Jr8B1h9Z6V3+0Q3RDyE5myj4A6uyDM09aCCGEEEJ0Tcc0vuXlNLy+Ex2JkXZqManHFKC6ORLi+W3Ps656Hb85+jfdCu7oaJTqe/5O9T33YBk/gZKjf0zlzgAnXz2F4hnZ3b07vdJenh23e1KH5VsCPD2doqW15vZXN/Hghzv5ysJR3H72dEwdBXfWvwCv3gThAJz6G1j4dTANn9EqgaZGPnjyEQomT2PKUcf1uB5fNMqtW0t5qryW+Wku7pk2miK7tesDhRDd1i8BHqWUHbgIYxTPEYDGCO6Q8NcZv/0KpdSPtNZ/7o+2iCRFbGSk7AKgwSkBHiGEEEKIoSjqDVHz2CZCuxuxjUsn49wJWHqw7HhNoIa7V9/NgvwFnDHmjKSPi9TUUPaDH+Bb8jFpZ53NhvEXs3d1Dcd+ZRIT53dvBFBvdJZnpzO9maIVi2lu+/cGHv14N1ceUczPvji1/fP5a+G/34f1z8PIOXDufZAzsdvnG2wf/utRmv0+TvxqzxMrr2/y8/WNuynxN3Pj6Dy+V5xPShKruQkheqZPAzxKqdkYQZuvAC1Rgpb/4MXAvcBbwPnAdcBcwAb8USm1W2v9cl+2RyTPbHKQaarBFIvR6HDjDwRxOvom+ZwQQgghhOgb/k+rCO1uJPP8CTjn5fX4i/cfVv2BQCTArYtuTboO/8qVlN70PaINDeTffjtrQ9PZ9n4pi84Zy/RjCnrUju5KJs9OZwKBABaLBbPZ3K3zxmKaW15cx1Mr9nLtMWO5+fTJ7T9uW9+EV74N/mo4/idw1I1g7pff1PvV/u1bWPvOG8z9wlnkjCru9vFaax4sreYX28vIsqTw7OxxHJXZwZLxQog+0+t3G6WUG7gEI7DTsrZ2y7tdDfAIcJ/WelvCYf8A/qGUOit+ezrwA0ACPIPE6soiTIz0UACv3cmWrVs4bNaswW6WEEIIIeKU8W3yIuAyjIUscoBaYCPwL+BhrXWkj8/3BYx+3nxgBMYPcw3AVuBd4EGtdUlfnVN0LeYLg4leBXdWlK/glZJXuGbGNYxNH9tleR2LUfvQQ1T+8W4shQUU338fa7ZaWf/WLmafPIo5p47uUTu6ozt5djoTDAa7PXonGtP88Lm1PL96H986fjzfO2XiZx/75iZ44xZY/SjkToVLnoERw7MvHYtFefvBe3FlZHL4Bd1PrFwbjnDj5j28Ud3IyZ407p48Co91+AW5hBiOevyfppQ6HCOocyHGdCtoDex8hDFa5zmtdXNHdWitX1FK3Ymx5PqUnrZF9J47qxAf4An58doc7N64VgI8QgghxBChlMoEngNOaHNTfnw7AfiGUupcrfWePjhfNvAscFw7N3uAw+Pb95RS/6e1/l1vzymSE/OFMTktPQ7uhKNhfrX0VxS4C7hm5jVdlo82NFD245vxLl5M6qmnMuJXt7NuaS0r/7udKUeO4IjzxvW4Lcmqq1vK5i0/xe8vSSrPTmcCgUC3AjyRaIybnlnDK2vKuOnkiXznxAmfLVS/Fx7+AjTsgyNvgONvgZThu2jJurffpGLHNr7wnR9gcya/ohrAkjov12/aTU0owi/HF/C1wux+f30IIVp1O8CjlLoBYyn0qS1Xxf82AI9hjNbZ0I0q18T/ZnS3LaLvZOZNpaIGciN+1jmyqd65d7CbJIQQQghAKWXFGOV8dPyqvRgrkm4HCoGrMX4omwO8ppQ6XGvd2IvzpQCvAfPiVwWBRzH6bHVAEfBF4CjACvxWKeXVWt/T03OK5MV8YUwuS4+Pf2zTY5Q0lPDXE/6KI6XzQEdg3TpKb7iRcGUlebfcQuZll7JpyX4+em474+bkcNwlHUxT6kPlFf9m48bvY7cXJJ1npzOBQCDpBMuhSIzvPvUJr60v50enTeYbx41rv+BHd0NTOVz1Goxa1OO2DQX+xgY+/NcjFE2dweQjjkn6uEhM84fd5dy9q4Jih43/zJ3AzNTuBYeEEL3XkxE8f+DgpMkrMEbrPKW1DvSgvj4bSix6LnPEDKiBvKiXpbYimhp73C8UQgghRN/6Bq3BndXASVrrupYblVJ/BV4CTsX4Ae7/MKa+99TFtAZ39gJHa613tynzO6XUNRiBJoCfK6Xu78spYqJ9UX8Ek7Nng/DLvGXcu+Zeji86nmOLju2wnNaauiefpPKO32LOyab48cdwzJpFyepK3n18M0VTszj5qmkdrx7VR/aVPsmWLT8lI2M+s2beT0pK73O4BINBsrK6ntbVHIly/ROreWtTJT85YwpfO7qDqWz+Wvj0SZhx4bAP7gB8+K9HCAUDnHD115MOpJUGQ1y/cTdLG3xclJ/JbyYU4krpXo4jIUTf6OkULR/wJMZonU962Yb3gDG9rEP0kt1TBFEzubqemMlEnZJ5skIIIcRgi4+muTV+UQOXJwZ3ALTWQaXU5cAOwAV8Wyl1h9a6poenPTVh/452gjst531AKdWyaEY2xiiidT08p0hSzB/u0apZAHcsvwOAmxfc3GGZqNdH+U//j8b/vobr2GMYeccdpGRmsndjLW8+tIG8MWmcft0MzJb+Xe571657KdlxJx7P8cyY/lfM5r5Z/COZETzBcJTrHlvFe1ur+OXZ07js8OKOC69+BMJ+WPSNPmnfYCrbupl177zJvC+eR3ZRcnmVXquq58bNewlrzd+mjOL8/O7lRBJC9K2efIv/BvCE1trbFw3QWgeBdjsOYuCYzGZMQTc5pkoA6uzuQW6REEIIITBy6+TE99/uaBq81rpSKfUUxjR6G3A28FAPz5mbsL+tw1KGrRgBHjCCS6KfxXxhTKPTui7Yxrt732Xx3sXcOPdGRrhHtFsmuGUrpd/9LqE9e8i56SY8X/sqymSifEcD/71vHZl5Ts64fhYWW/+NztBaU1LyO3bvuZ+8vLOYOuV3mEw9n5LWVldJlv2hCNc8upIlJTXccd4MvrxgVMeVRcOw7H4Ycwzkz+izNg6GWCzK2w/9HXdmFoef/+UuyweiMX5eUsbDpdXMTHVw39RixjiHb94hIT4vuh1611rf11fBHTHEBB1kq/0A1DvTB7kxQgghhABOSdh/vYuyibef1otzViTst5NR9iAtt0cxgj2iH2mtifm7n4MnEAlwx/I7GJc+jsumXNZumfoXXmTXl75E1Odl1MP/JPvaa1AmEzWlXv7z1zU406x88Tuzsfci/09XtI6yectP2L3nfgoKLmHa1Lv6NLgTiUQIh8MdBni8zRGu/OcKPi6p4fcXzOo8uAOw8WVoKoNF1/dZGwfL2rfeoHJnCcde/jWsjq5z5/xseykPl1bz9aIc/jNnggR3hBgiuh3gUUq9E9+O6OZx8+PHvd3dc4oBErSRmWIkV25ypOIPBAe5QUIIIcQhb3rC/qouyq7s4Ljuejlh/8dKqXbnasRz8LTk6nlMa13bi3OKJOhgFGJgcnYv6PHA2gco9Zbyk0U/wWI++FgdDlN2663sv+UWHLNnM/bFF3EtWABAQ5WfV/70KSkWE2d/dzau9P77Eh+LhVi/4UbKyp5i9OhvMGniz1Gqb6eBBQJGutD2pmg1BsNc/uAyVu2u4+4vH8b5cws7r0xr+Phv4BkPE07pvOwQ529s4MOnHmHU9JlMOvzoLstHteY/VfWcm5vBbeMLsJr6d7qeECJ5PZmidRzGHPDsbh6XlXCsGIrCNmy2CmyRMF6bg63btjN7Zm/6h0IIIYTopYkJ+7u6KLsPYySNGZiglFJa6570u54HXgTOxVgxa7NS6lHgU1pX0ToLYxUt4mW/3YPziG6K+cMA3UqyvKN+B//c8E/OGncW8/Lnfeb2qr/8lYbnX8Dz9evI+fa3UWZj+pWvvplX/vQp0WiMc783h7Qe5v1JRjQaYN3666mpeY/x437E6NHX9st5gkHjx8u2I3ga/GEuf2gZG8oa+evFh3H6jPansB1k73IoWw1f+D0M8wDHB08+TDgY5ISrvpFUYuVVDT5qw1FOzZYR/0IMNZJJVxygojailiayAs147Q52blorAR4hhBBicGUk7Fd3VlBrHVFKNQKZGH08F9DtafVaa62UuhD4BUbgJhVo7xv3auCnwH97GEgS3RT1xQM8SU6T0lpz+7LbcaQ4uGnuTZ+53bd0GTUPPED6BeeTe8MNB64PesO88udPCTSFOfuGw/CM7L/cjJFIE5+u+RoNDauYPOlXFBR0nf+lp1pG8CQGeGp9IS79xzK2V3q599K5nDQ1L7nKlv4N7Okw6+L+aOqAKdu6ifWL/8f8s87HU1iU1DFv1jSSouAET/dzQQkh+tdAhptbxnSGBvCcohtSrC4wxcgOhfHanNSW7RnsJgkhhBCHusRv1snMnQ4k7Pd4TWmtdRS4EyPI09xBsTnAj4HDO6tLKXWtUmqlUmplVVVVT5skgJjfWIXenGSA59Wdr7KifAU3zLkBj8Nz0G2RujrKfvQjrKNHk39z66paoWCEf/91DQ2VAb7wjRnkjem/L/GhUDWrV19CY+Mapk/7U78Gd+CzU7Sqmpq5+P6llFR5uf/ybgR36nbDpn/D3CvBNnwXJonForz14N9xZ3lYlERi5RZvVjeyKN1NmiyFLsSQM5ABnpnxvzI/e4iyuY1FM/LCzXhtDryN9YPbICGEEEIMCqXUaRhTwu4EPsZYOj0D4we7CcAtgA9jmtbbSqmzO6pLa32/1nqe1npeTk5OR8VEEmK+5KdoNYYauXPFnczInsH5E84/6DatNeU//RmR2lpG/v73mFzGAmiRcJTX7l1H1Z4mTvnaNAon99+S18FgGatWfxmfv4RZM+8jL++MfjtX6zlbp2hVNAb58v0fs7vWx0NXzue4SbldHJ1g+f2AggX9M5VsoKx5879U7drBcZdfg9We3BS8XYFmtvqDMj1LiCGq008HpdQooLiDm6crpeq7qF9hDA+eA/wQI//Op91qoRgwqVljaNSQHfYTtObjjchoayGEEGKQeTGmXAHY6XrKVeK3tKaenDAe3HkV44fA54Avaa1jCUW2A7+JL5zxfrxdjymlJmqty3tyTpGcWDemaP1l9V+ob67n7yf9HbPp4JEW9c8+S9P//kfuD36AY/o0o+5ojDf/sYF9m+s48copjJ3df8E4v38nqz+5jGjUy2GzHyEj47O5gfpDywiexrDiqoc+pqqpmUeuWsDCsZ4ujkzQ3ASrH4Vp50B6F4mYhzBffR0fPf04o2bMZuKiI5M+7s3qBgBOyZbpWUIMRV2F/6/CmFvdlgJ+2c1zKYwAzyPdPE4MkKzcqZRWQG7UeOOusw/fIadCCCHE50Q9rQGebDoJ8CilUoCWb11hjBE2PXEXRnAnBny3TXDnAK31cqXUw8B1GNPBrgTu6OE5RRJi/giYFcrW+dSYDdUbeHrL01w8+WKmeqYedFvzjh1U/Po3uI44nKyrrgRAxzSLH9/MzjXVHHXhBCYvSiLJcA81NW3gk0+N88457ElSU6d2fkAfahnB89TqckrrAzx17eHMHZ3ZxVFtfPI4NDcO+6XRP3jyYcLNzZxw1XVJJVZu8WZ1IxOddkY7ZFl0IYaiZKZoqTZbR9d3tYWBO7TWz/RV40XfSh9hfMDm6hoA6h0y9FIIIYQYZFsT9ou7KFuIsYIWwPaeJD5WSo0BWr5xb9Ral3VxyFsJ+wu6ez7RPTF/GJMzpdMv5NFYlF8s/QUeh4dvHfatg48PhSj93vcxORyMuOMOlMmE1pqPnt/O5o/LmX9GMbNOTC7Rbk/U169k1eqvYDLZmDf3mQEN7oAxgsdms7GvPkhRprP7wZ1YFJbdC0ULoXBu/zRyAOzbvIEN773NvDPPwVOQ/PPdEI6wtMHLqTJ6R4ghq6sRPO+2c93PMEbiPANs7uL4GMYvTTuBD7SORw7EkGTJyIeIhVxlJEBscqbi8wdwOftvWUwhhBBCdGo9Rv4bgLm03zdrkTjPZX0PzzcyYb8xifINCfuuHp5TJCnqC2Nydj4969mtz7KxZiO/Pfq3pFoPzrNd9Yc/0rxpE4X33IMl18g5s31VJWve3svM4wuZf+aYfmt7dc27rFt3PXb7SA6b/Qh2+8iuD+pjgUAAu91OWX2AkRk96N9ueQ3qdsFJP+/ztg2UWDTKOw/+nVRPDovO615S68W1TUQ0nCL5d4QYsjoN8Git3wPeS7xOKfWz+O6/tNav9FfDxMAzmUyYAk6yUspQWuO1Odi2Yxezp08Z7KYJIYQQh6o3gO/F90/FmD7VkdMS9l/v4fkSgzrJ/LQ/OmFffsjrZzFfuNMVtKoD1fx59Z9ZOGIhp485/aDbvB98SO3DD5P5la+QesLxADQHInz4zDZyRqVy5IUTujVVpzsqKv7Dho3fw+2axOzZD2G1ZvfLeboSDAZxOByU1QY4dmIPcgwtvQfSR8HkM/u+cQPk0zdfpWrPLr54081Y4quJJevNmkayLGbmpDn7qXVCiN7qySpaP8dYMrOr0TtiOAraMdvqSQsH8doc7Nq0ZrBbJIQQQhzKFgMta4ufpJSa1l4hpVQu0PJzfBB4uYfn207rcuxFSqkjuiifOARgZQ/PKZIU84c7TbB818q7CEaD3Lrw1oOCNZGaGspuvhnbhPHk/vAHB65f9vIO/E0hjrtkEiZT/wR3SkufYv2GG0hLm82cOU8MWnAHWqZo2alsau7+CJ6yT2H3R7DwWjB3vYrZUNSSWHn0zMOYsKCrf+2DhWOat2saOdmTjrmfAoFCiN7rdoBHa/3z+La169Ji2Gm2EbE2khOJ4bU7qC7dM9gtEkIIIQ5ZWusI8Kv4RQU8qpQ6KHGIUsqOsYhFyxSpv3Y0LV4p9bBSSse329o5X4CDg0OPxFdVba+uW4AT4xebMabvi34U80c6XCJ9+f7l/GfHf7hq+lWMSW+daqW1puyWW4g1NhpLosdHbVTubmTde/uYcWwhuaP7J6fK7t33sXnLrXg8x3DY7IdJSUnt+qB+FAwGUSlWtKb7AZ6l94DVDXMu75/GDYD3H3+ISCjECVd9vdujtZY3eGmIRGX1LCGGuOEZfhb9RoUsRG2V5IdSWGdz4GusH+wmCSGEEIe6vwPnA0cDc4A1Sqn7MEbbFAJfBVrmU28Ebu/l+W4BTgaygPHAeqXU48BSIACMAi4EFiYc83Ot9b5enld0Qsd0PMnyZ0fwhKNhbl92OwXuAq6Zcc1Bt9U9/gS+994n79ZbsU+aBEAspnn3iS0406wsPHts37dVa0p2/J7du+8lL/dMpk69E5PJ2ufn6a5AIIAt3ZiaVdCdAE/jflj/PMz/GtiHZ/6ZfRvXs/GDxSw89yKyRhZ0+/g3axqxKsVxmYMbpBNCdK7XAR6llAkYh7GEZ1ITObXW7/f2vKJ/KGUnYvHi8Sm8TifBUGiwmySEEEIc0rTWIaXU2cBzwAkYuXHaC+KsBs7VWje0c1t3zrdDKXUy8BQwAWMJ9G/Et7YiwG1a69/05pyiazoYgRjtTtF6ZOMj7GzYyd9O/Bv2lNbueHDLVirvvBPXsceQeeklB65f9+4+qvY0ccrXpmFz9P3vvVu3/YJ9+x6lYOTFTJr0c5TqfFn3gRIIBHBooy3dGsGz4gFjBa2F1/VTy/rfB089Smp2DgvPuajbx2qtebO6gSMz3bhShsZzKYRoX4/f0ZVSxwHfx+ho2LpxqO7NeUX/stjSiSiNx9dENMtDY4qsoCWEEEIMNq11nVLqJOAi4DLgMCAbqAM2YARj/hmf0tUX51utlJoZP9858fPlAlaMlbO2Yazo9YDWekdfnFN0Luo3ntq2AZ59Tfu4b819nDjqRI4pPObA9bFgkLLvfw9TWhojf/3rA1NyvHXNLHtlB6OmZjF+bm6ft7Oubhn79j1KYeEVTJzwf/2WuLm7wuEw0WgUX9TIUDEiPckEwyE/rPwnTD4Dsvp+tNNAqdtfyoQFh3c7sTLAdn8zOwMhri3q+9eLEKJv9SjQEl9J66ctF/uuOWKw2d0jCQDZgXrAQ70zY3AbJIQQQggAtNYaeDq+9bSOK4ErkywbBB6Nb2KQxXxhAMxtcvD8dvlvUUrx4wU/Puj6yt/dSfO27RQ98AApHs+B6z98dhuxiOaYiyf2efBFa832kt9hs+UzftwPh0xwB4zROwANYRPZbit2S5IjUdY+DYFaWPTNfmxd/9KxGEFvE47UnuXPebPGWFzvZI/k3xFiqOt2gEcpdSrws4Sr9mAspV6KkWBPDGPp2eOpC0FOuA4Ar8ON3x/A6ZSRPEIIIYQQgyXmNwI8iSN43tnzDu/ue5eb5t5Eviv/wPVN7yym7sknybryStxHH3Xg+t3rayhZXcnCs8aQntP3S11XVb9JY+OnTJn8G8zm7o8U6U/BoLE4XF2wG9OztIalf4cRs2B091adGkqa/X50LNbjAM//qhuY5rZTaB/8PEpCiM71ZATPt+J/YxhTtP4U/0VJfA5k5UxlVynkxRffaLI72LZrL7OmThzklgkhhBBCHLpivvgUrXiSZX/Yzx3L72B8xngunXrpgXLhikr233ILtilTyLnpxgPXR0JR3n9qC5n5Tg47eXTfty8WoaTkLpzO8eTnn9fn9fdWywieykCMkSOSDPBsfxuqt8C598MQGo3UXQGvMQLH7u5+guTacITlDT6+Ozqvr5slhOgH3V4mHViAkUfnaa313RLc+Xxx5RurK6Sn1GCJRfDanOzctGaQWyWEEEIIcWhrHcFj/D5739r72O/bz/8t+j8sJiPoo2Mx9t/8Y2LBIAV3/R6TtXXExcr/7qKxOsixF0/CbOnJV4DO7S9/Hr+/hPHjvofJNPTSbbYEeMq90eRH8Cz9G7jzYdq5/diy/hdoNAI8jrTuj+B5u6aRGHBK9vBcPUyIQ01P3t1b/rtf78uGiKHBkuZBhWwoWyM50TBeu4PqfbsHu1lCCCGEEIe0mC8MZoWymtlet51HNzzK2ePOZk7enANlav/5ML4lH5N3y83YxrYmBK4t8/HJ//YwaVE+BZMy+7xt0WiQnTv/THraYWRnn9zn9feFlilaDWHFyIwkpo9VboKSd2DB1yBleE9NCjTFAzzu7gd43qxuJNeawqxUSdcgxHDQkwBPefyvrJ/9OaSUQgXsYGtgZEoKXqsDX2PdYDdLCCGEEOKQFvWFD+TfuX3Z7TgtTm6ad9OB2wPrN1B5992knnwSGRdeeOB6rTXv/WsLFpuZI84b3y9t27fvEZqbyxk3xBIrJ2oZwdOsU5IbwbP0Hkixw9yr+7ll/S/obQLodg6eUCzG4tpGTvGkYxqiz6sQ4mA9CfB8FP87rS8bIoaQoI2IrYERJideu4PmZonlCSGEEEIMppg/gtlpYfHexayqWMUNc28gy55l3ObzUfa975GSlUX+L35xUJBly9JyyrbVc8R543Gm9f1IlHC4gV2778XjOY7MzAV9Xn9faQnwhDB3HeDxVcOap2HWl8Hl6bzsMBBobADAntq9HDwf1/vwRmOcki2rZwkxXPQkwPMXjBw8VyilZKze55BqthK1NpLdrPDbHAR7lItbCCGEEEL0lZg/jMmZQkl9CQBnjTvrwG3lv/kNoT17GPnb35KS2ToFK+gN89Hz28kfm86UI0b0S7t2776XSKSJceN+0C/195VgMIgpxQokMUVr5T8h2jysl0ZPFPA2oUwmbE5Xt457s7oBu0lxVGb3kzMLIQZHtwM8WuulGMukFwEvKKUk49bnjIpYiNgaSG80Ru40OCVqL4QQQggxmGLxKVq1wVqcKU5sZhsAja+/QcNzz+O55hpcixYedMySF7fT7I9w3CWTUKa+n2ITDO5n775HyM8/m1T35D6vvy8FAgFiZgtWs4lsl63jgpFmWPEAjD8JciYNXAP7UaCpEUdqWremz2mtebOmkWMyU3Ga+z4ptxCif3R7aIZS6hjgA+BfwMXANqXUo8BSoBpj+fROaa3f7+55xcAxmVxELH7SG5ogO5VGRyo+nx+XyznYTRNCCCGEOCTF/EaAp665jky7MUonvH8/+3/6U+wzZpDz7W8dVL5sez2bPtrPYSePwlPg7pc27dz5Z7TWjB1zY9eFB1kwGCRCCiMy7Jg6C3atfwG8FbDo7wPXuH4WbGrqdv6dzb4ge4MhWR5diGGmJ3Nv3sWYokX8bzbQnXd13cPzigGSYs8iBHiaaoFUvHYHJXvKmDmlfxLzCSGEEEKIjumYJuaPYHKmUB+sJ9OWiY5GKfvBDyESoeD3d6IslgPlo9EY7z25BXeWjflnjumXNvl82ynb/xxFhZfjcBT2yzn6UiAQIKDNjEzvJMOE1sbS6DmTYdwJA9e4ftYygqc73qw2Vt462SMj+YUYTno63k4lbG0vJ7OJIcyVVgSAp7kaAK/NwY7N6wazSUIIIYQQh6xYIAKaA1O0Mu2Z1DzwAP6VK8n76f9hHT36oPJr3tpLbZmPY748CYvN3C9tKtlxF2azk+Li4ZGnJhAI4IuYOk+wvOtDKF8Hi74Bn6NVowJNjdjd3cuj82ZNA7NSHeTZLF0XFkIMGT0ZSfPzPm+FGFIysidQ5QenuZH0aAivzUn13pLBbpYQQgghxCEp5g8DYHZaqN9fz+G1Hqr+8lfSzjiD9LPPPqhsY3WAFf/ZyZhZ2YyZmd0v7Wlo+ISqqjcZO+YGrNbhscpUMBikMexkYmcJlpfeA04PzPzSwDVsAASaGhk5aUrS5atCYVY3+vnBmPx+bJUQoj90O8CjtZYAz+dcRu5U2AVmaxMFVhNNNjvehrrBbpYQQgghxCEp5o8AxgieQEMtxzxcjyU/n/zbfnZQ4lytNR88vRVMiqO/NLFf2qK1ZnvJ77BasykqurpfztHXtNYEAgGadWrHI3hqSmDLa3DM98Hy+VkoWGtN0NuEoxsjeP5X04gGTpHpWUIMO5ISXXyGM8/ItWOyN1LkdOO1OQg1hwa5VUIIIYQQh6aYzxjBE7JGmL82gLOqiZF3/AZz6sFf2nd+Ws2udTUs/OIYUrO6WAq8h2pq3qW+fjnFxd8iJaV7y24PlnA4TCwWo1mndBzgWXYfmFJg/tcGtnH9LBTwE4tGu5WD53/VjRTYLExzf34CXUIcKiTAIz4jxZWOCtrB1kCO2YbX7iSkPz/zkIUQQgghhpOWAE9Tip+sJo02KRxz5x5UJhSM8MEzW/EUupl5fP8kPdY6RsmO3+NwjKJg5PCZxhQIBABopoMAT6AePnkcZlwAqZ+vaUmBpiYA7EkGeILRGO/WNnFydnq3llUXQgwNEuAR7VIBG1FbI9lBTTjFgt/mRGvd9YFCCCGEEKJPteTgqTc1keaHWJobZTq4G7/8Pzvx1jdz3FcmYTL3Txe/vOIVvN7NjB17EyaTtV/O0R9aAjwhbWZkezl4Vj8KYR8sGh4Jo7sj0NQAkPQIng/rvQRiMZmeJcQwJQEe0S4VtBK1NpDVZMz5bnSk4vcHBrlVQgghhBCHnqg/AimKulgd6X5QmRkH3V61t4m17+xj2lEjyR+b3i9tiMWa2bHjj6S6p5GX+//s3Xd4ZGd1+PHvmT4jzUjaXW3TeovXBdd1w2CDDbisDUloCRCS0JJAQhqQQghJSEgjP5KQBnEgJOAQQg2JIaEXgzEYY+O27mWLV9qVVm16n/P7471azWpVZ0caaeZ8nmeeO7pz73tf2bvaq3PPe86PLcs1lkuhUAAgFA4TC80oQVqtwJ0fgp1XwZYLWzC75ZVPu3bn0fjiavB8dTRJzO/jyt7u5ZyWMWaZzFlkWUSe8t6qqu6eZX+jThjPrFLFAJVEip5kCTZAJhLjyUODXHjOma2emTHGGNNSIvJLwMdVNdPquZjOUMuW8ceCTBRHSGSVwJbpzlW1mvLt/3yUSFeAZ790+W6xDw/+J4XCYZ6x588QWVvPiKcyeHrjswQtHv48JJ+GF/6/FZ7Vyih4S7QWk8GjqnxtLMUL1sWJLFMWmDFmec3XRWunt525Lment6/RRZm2zmcNkFqYSvgoicE8bAiSCUd56tGHLcBjjDHGwE3AX4vIJ4EPq+oPWj0h095q2TK+riAThQkGchDe0H/8s4e+O8Tw/hTXveFcIl3BZbl+pZLmwIF/oq/vCtate+6yXGM5TQV41vfMEuC545+gbxecdeMKz2plTGXwLKYGzwOZPEeKZa635VnGrFnzBXgOMXswZq79po34A3EqgQN0TSYJ6Doy4Sijh081ecsYY4xpGzHg54GfF5F9wIeA/1DVZGunZdpRLVdxAZ7iBOfmINK/CYBcqsT3//tJBs7u46zLNy3b9Q8d+lfK5XHO2P32NVl4d2qJ1uZ1MwIXT/8QDv8QXvhe8PlbMLPll0+nEfERiS3c8eyroykEuNYCPMasWXMGeFR151L2m/YSim6kCPjK42zx95EJR8g8Pd7qaRljjDGrwW8DvwCc4319PvAPwHtF5LO4rJ7bWjU5035q2TLBrV0k06N0FSGw3i3Ruv2zj1MpV3neq89atsBLsTTKoaf/lY0bX0QisTZr1CQzWWoKA+tmZPDc8U8Q7oGLfrY1E1sB+XSSSPfJRbln89WxJJcluugPLU8mmDFm+dniSjOr7p4dAPj9k2yLRcmEohSLxRbPyhhjjGk9VX2fqp4HXAV8DMjjlq5HgZ8DbhWRh0XkbSKyfp6hjFmUWq6MLxakMDoCgL9vHU8/PM5jdw5zyQ076Nu8cHZGow7sfz+1WpHdp//msl1juY0nM5QIMNAXm945+TQ8dAtc+loIt29B4UI6vaj6O0eKJe5P59m7wbJ3jFnLLMBjZtW34RkA+INptnV1kYlEqdjCPGOMMeY4Vb1dVV8HbAV+DbgHF+gR4Czgr4HDIvIJEbm2dTM1a5nWlFreLdEqj40CIL3r+PYnHqWnP8qlN+5YtmvncgcZHPoEW7e8klhs17JdZ7lNprNei/To9M47P+S2l/9Saya1QvLpFNHEwkGbr426Wj3XW4DHmDXNAjxmVomNZwHgi6TZEgiQjcQo+cOoWpTHGGOMqaeqKVX9J1W9FLgMV48njQv0hIFXAl8VkcdF5HdFZPmKpZi2U8tXQMEfC1CbmADgwUMxkiN5nvfqswkEl692zFP7/xaRILt2/cayXWMlZHN5igQYmArwFDNw981w7ouh97TWTm6Z5TNpIt0LB22+OpZieyTE2bHICszKGLNcLMBjZhXetBsUfOEk66uCio9MpItcLtfqqRljjDGrlqr+SFV/GZfV8wvAHUxn9ewG/gI4JCL/JSJ7WzdTs1bUsmUAfF1BZDJNLtrP/fcWOPOZmzjt3HXLdt1Ueh/Dw19g+2mvJxzeuGzXWQmFfJ4yfvq7w27HA5+GYhKe/SutndgKyKdTCy7RylarfHcizQ0bEmuyiLYxZtp8XbQWRUQGgMuBbUACWPAxgqr+yale1yyvQDiG5CPUwinW5WsArlX64aNccPbuFs/OGGOMWd1UNQd8RET+CxfU+RWmu5AGgZcCLxWRx4B3q+onWzJRs+rVci7Ao1EfwWSO0fXPolaFK162vPdjTz751wQCvezYsfaXMJVLRXzBGD6fF7w4ch/E1sNpl7d2YstMVSmkU0Tj8XmPu208Q6Gm7F3fs0IzM8Ysl4YDPCJyKfBe4PkNnG4BnjVA8mGq4SS9k2UQyERiPPnIwxbgMcYYYxYgIlcCvwi8AtdSXXFZPBXgYeAC79CzgY+LyCuAn1bVcguma1axWrYCQC5YoCenFCM9+IM+uvvCy3bN8fHvMT5+G2ec8XsEAvMHB9YCrZQIReuynZKD0LOtdRNaIeVCnmqlsmAGz1fHksT9Pp7Vu3zFuo0xK6OhJVoi8jLgdlxwRxZ4McvXZg2QQoBKKEnvWAlwGTyjh59q8ayMMcaY1UlE1onIW0VkH3Ab8DqgC3f/cxj4I2CHqu7BFWH+WyDjff5S4NdbMW+zuk1l8CT9WRJZKHatIxYPLdtSGlXliSffSzi8hW0Dr1mWa6wkVcWnZWLRugLLqUFItH+AJ59OAxCZJ4OnpsrXxlJcsz5BaBGt1I0xq9uS/xZ7hQH/HQgBOVw2zo3exwr8AfDjwK8Cn/f2KXAz8ALgmkYnK85zvJunj4vIj0TkaRHJi0hORA6LyJdE5NdEpHcJ494oIp8SkYMiUhCRERG53WtvuqRQtohcISL/JiJPenMaF5G7ReQPRGTDkr/pVioFqIZTyHieHmqkQxEyk2OtnpUxxhizqojINSLyCWAQ+BvgHFzQRoEvAi8Gdqnqn6rqEQBVfUJVfwt4BvCYd/zrWzB9s8pVvRo8E74kPTkoR3uJJkLLdr2RY18inX6A009/K37/8mUJrZR8oYgPSHTXtUhPDUJia8vmtFLyadcZKxqfe+nVvakcx0oV9q637lnGtINGlmj9Cu5plAI/oaq3AvVPEfap6he99zeJyCXAfwGvBR5T1fecwnzDwHfn+XzAe90IvEtE3qiqt8x1sIiEgY8CPz3jo37vdSXwqyLyclW9f76JifsP8DfAWzkxUykK9AGXAL8mIj+jqt+cb6zVwkeUSmiQYjLLQKSHbChCsVBo9bSMMcaYlhORzcAbcIWUp/pHT/37fxT4V+BfVPXQfOOo6pCIvA/4Z1wRZmNOUMuVkaCPieokiZwyHkrQs0wBnlqtzJNP/g1dXWeyZfPLluUaK+3w6CQAvXHvmW0xA4Uk9Ay0blIrpDAV4OmeO4Pnq2Mp/ALXWIDHmLbQSIBnLy64882p4M58VPVHXpeI+4A/EZGvq+oPG7huvUHgB8D9wEFcK9IY7inYK4AzcQGa/xKRF6rq1+YY52bgVd77MVxb0weADcDP4YpH7wa+LCLPUtWn55nTe4C3ee+zuBu7O4Fu4CeB64FNwC0icpWq3rvE73nFBQK9lP0H0EKKbV1b+FEkQkVtlZ0xxpjOJiL/A7yI6cYSU9k6X8cFam5R1eoShpwKAll/YnOSWraCLxZkojDB5hwc9XcRW6YAz9CRz5DPH+DCCz6IyPK1X19Jh48lAejv9YIcqUG37YglWl6AJzF38Oaro0ku7+miL3jKvXeMMatAI3+Tz/C2X5/j8+DMHar6uIh8DHgj8Cag0QBPCThPVR+a6wAReRfwj8CbcTde/4BLlZ553EuYDu4cAq6qf8omIh8APox7OrcFeB8ueDTbNS8G3u59mQSunpHx80ER+WPc2vtu4ENewEhZxSKxreS5F59OMhAJ8e1IFxVfEFW1ForGGGM62Yvr3o8CHwE+qKqNFqrL4e5Faqc6MdN+arkyvq4AE4VxzsoKJQ0vS4CnWs2xf/8/0tNzKRs2XNv08VvlyLgLcmxe5wU5kofdtgMyeKYCPJE5MnieLpR4KFvgj3a3/3I1YzpFI5W0phZxzkw5LnnbuWrW3O5tn9fANQFQ1dp8wR3vmCrwFlxGDsAzROT0WQ7947r3b56ZQq2qNVwdoan9PyUi589x2XcxnZb9zjmWc70bl9ED8Ezck79VLd67EwB/IMVAOEgxFKEYDJPL5Vo7MWOMMab1vgP8DDCgqr97CsEdVPU7qrpTVWe7XzEdrpYt44sFSSWP4ZNuQJYlwPP00x+lVBrhjN1vb6sHeccmXKHhrVNLkI5n8HRAgCeTBhEi3d2zfv7VUZfdtHeDLc8ypl00EuDJe9uZT5mS3nb7HOdNHb+lgWsuiddi9PG6XZvrPxeRM4GLvC8fr6sZNHOcPPAvdbteOfMYEYkDL/S+TOFq+sw2luIyi6a8arbjVpPe/rMB8EfSbA64ZK9MOMpTh4+2clrGGGNMq52rqs9X1U9aW3Oz3Gq5Cr6uIIXRYUohl4kRjTc3wFMuT3Dg4AfZsOFaensva+rYrTaeygKwvscLciQHAYH4sv9K0nL5VIpIVzc+3+zL7b42muKMWJjdMVsdaky7aCTAM5XR0j9j/1RA5co5zruwgWs1RER8wM66XTMjEjfUvf/KAsN9ue79jbN8/jxc8WeA76jqfOkt9deabaxVpav/LAD84RTrK25fJhLlyccfa+GsjDHGmNZS1UdaPQfTOarZMr5YgPLYGMWQy7SI9TQ3wHPgwE1Uq1l2n/5bTR13NUhlXIAnOtUmPTUI3RshsHydyFaLfCZNND57dk66UuX2yQzXW3FlY9pKIwGee73tzOVKt+OWKV0nIhfVfyAiO4FfwhUgfLSBay6a183qz5jO2rl3lrTp+rnfvcCQ9wJThRLPlZNzVhc9lqoewxWFBugXkY0LXLulIv07oCYQSdKTcwlYmXCMY4eebPHMjDHGmNYRkZqIVETkxQsffcJ5N4hIVUQqyzU30160qmi+gr8rSG18gtJUgKeJGTzF0iiHBz/Gls0vo7v77KaNu1pk83kUIRTy/pulBjtieRZAIZ2cM8Bz63iasip7N8zdQt0Ys/Y0UmT5VuBngWtm7L8Z+C1cYeNbReSDwJO4LlS/CMRxAZ5PNzrZmUTkRqY7TsRwBaBfDuzx9o3h2pfOdFbd+wPzXUNVKyIyiFt61oVrw364kbE8B4EddeeOLOKclvCFwkguQjWUJH6siB8lEwqTGTrQ6qkZY4wxrdZokZL2KW5ill0t71YA+rqCyGSScuhMgKbW4MlmHqVWK7F5y8ubNuZqUioUIBCariuUHIT+s+Y/qU3k02niG2YuunC+OpakN+DnmYm5yqcaY9aiRgI8twAfBHaLyLNV9Q4AVX1IRP4G+B1cMOe3Zzn3AVxXq2b5KK71+Ewl4PPA21V1/yyf99a9H13EdcaYri3Uy4kBnkbGmu3cE4jIm3Adx9i+fa6yRsvPlwtQCacojxXY3O8nE4xQKhZaNh9jjDHGmE5Ry7lkL4kGCExmKYYSBII+gpHmtTAvFt2zxkh48wJHrj3ZYgWqJQJRr5qCqsvg2T3zOXV7yqdTbNy1+6T9VVW+MZbiuvUJAj6LORvTTpa8REtVR4EzgXOZsdxKVX8X+ENcu0+Z8foccI2qrkR04BFcG/e5smPqS8kvZj75uvcz+ww2c6zjVPVDqnqZql7W3z975H1FFANUQknKEwW2RSNkIxHK1sTVGGOMacTUv/v5eY8yxlPLugyecqRKd7ZKMdJDNBFqaperYsndLodCLbzfXCZHknlCVAlHvIT/QhJKmY5oka6qFNKz1+C5K5llvFzleuueZUzbaaQGD6q6X1UfVdWJWT77c1wB5mtx7UNfCmxT1Z9S1fFTmews19qsqoL7PnqA5wA3AecB/wz8QERODlubRZNyiGo4SXEyx0A0TCYSo+oL4pqCGWOMMWYJrvW21o7SLMpUgCftz5LIQinW1/QW6cXiMH5/N4HA7K2017LByQJhqdAVqyuwDB1Rg6dSLFIpl2YN8Hx1LEVA4AXrLMBjTLtpZInWgrwsnW8tx9hzXE9xLcq/B3xPRG4B/g8X6PmaiFygqtm6UzJ17xfTFzBa9z4947NmjrXqiMQoh0bxZwoMhIOko91UfX6y2Szd3e13I2CMMcbUE5Hn4TpmzuanZzaWmG0IXA2/S4AX4OoRfr9pEzRtrZpzAZ6kP0siB/m+HvqaHOApFUcIh1d134+GDU26DJ6ebq/OTGrIbTsgwJPPpACIdJ+8YOCro0mu7O0mEWjeUj9jzOqw5ACPiEwVhBlZynIrEQnj1ctR1UMLHH5KVPUrIvJRXIHlXcBrcZk9Uybr3m9YxJDr5zi32WOtOqHQBsq+/UglxUAkRM3nJx+KcGBohPPPsgCPMcaYtvd84F2z7BfgVUscS4AKza1HaNpYLetq8Ez4kvTklFSgm2izM3hKw4RD7RvgCUuF3rgX4El6ZTQ7YIlWPuUCPNHEiVk6+3NFHs8Ved3AYn5tMcasNY0s0ToAPAXsXeJ5z687dyV8eca16z1W937nfIOISADXOQsgCww2OpZnR937x+Y8apWIdrlvPeBPMhAOApAJR3nyiSdaOS1jjDFmJc2sKzjX/oVe9wAvVtUfrtjMzZpWy5WRoI+xyjjxnFCWSFNbpIMrshwOz9azZO0bnMgRkiqx+iVa4oPu9isoPVM+4xYKRGdk8Hx1LAnA9etteZYx7ajRJVqnUtltpUq11y9/6p3x2b6695fiunHN5SJc63eAh/Tk4jMzx5qTiPQzHeA5pqqrtkX6lJ6+0xlVCITSbA66Py6ZcJSRg0+w9BifMcYYs+Z8FLi17msBvolbavWHwO0LnF/DLefer6qTzZ+eaWe1bBlfV5DJ3ASnleOANLUGj6pSLI4QatMlWkcn0iSAyFSR5eQgxLeAf1mqVKwq+bSXwRPvOWH/V0dTPKMrwo6pzmLGmLbSzj/dzqh7P7N9+Vfq3t+wwDg31r3/8iyf3woUgTBwtYhEVXWu7hj115ptrFUnvuEsOAa+SJJ1JbcvEwqTGT3S2okZY4wxK0BVDwIH6/fVdTDap6rfXvFJmY5Ry1XwdQVJTxyhGnCZGM0M8FQqk6iW2jaDZ3Qyw1lANDqVwXO4I+rvQN0Srfh0Bs9kucIdyQy/elp7BvSMMQ120WpQr7fNLfeFRMSHq78z5Xv1n6vq47g0aYAzReSFc4wTAd5Yt+vTM49R1QzwRe/LBPD6OcYS4Nfqdn1q7u9g9eja6OJkvnAKSZbo9rkAT6mwEt3ujTHGmFXpBcA1LJy9Y8wpqWXL+GIBCqPHKIWaH+ApFl0yeTvW4KnVlGTa9Vg5HuBJDnZE/R2AwixFlr81nqaqsHdDz1ynGWPWuJUM8Lzc2z7d6AAi8lYRefYCx8SBjwEXe7vGgU/Ocui7697fVFc8emocH/ABYGr/Z1W1fjlWvT/FpWoDvEdELpzlmHcBz/Le/1BV/2++72O1CK0/Dao+auEUhdEiA5EwuXCEcs3apBtjjOlMqvpt7zXW6rmY9lbNuSVa5dFjlEKuZkoziywXi8MAbZnBM5op4lPXhSwSiYCq66LVKRk86RThri58/ulOWV8dTbIhGODiRKyFMzPGLKd5l2iJyEuAl8zx8W+IyEsXGH+qNehFwG5cEOS2pU3xBM8H/lZEHsetf9+HW35VBfpxLUhfBqzzjq8AvzjbDZiq3iIin8J1wNgB/EhEPgg8gOt09Vrgcu/wI8BvzjUpVb1HRN4L/C7Qg2vV/mHgTqAb+EmmC9ZkgDc18s23gi8QwJcNUQknyR/LMbA9xIORGFVfEFWtT1M3xhhjzDLysoFfCbwGd2/Vj3uQ9RDwCeCjqlpZhuv6cQ/qfhK4DNiMqy00DDwBfAv4by9D2jRRLVvBHwtS3T9OKbQbWKYMnjYM8Ax6LdLBy+DJT0Al30EBnjTR+HQh5XJN+eZ4mhdu6MFv9+/GtK2FavBchFtyNDNdQ3DpyUshuOVZ71viebM503vN5yngl1T16/Mc8zrc9/bTuKDOO2c55kng5aq6UObR7+Hq8LwFF9R6yyzHjACvVtV7FxhrVZFcgEooSXmiwLaz4twR7UZ9frLZLN3d1irdGGNMe6rP7lXVQ7Ptb1T9eIucSx/wWdzSsHqbvdc1wJtF5GVLHXuB614M/CvTmdH14riahzcCW4G3Nuu6BrRaQwsVfLEAMpGmFEoQCArBsH/hkxepWHIZPKE2XKI1NFkgLC7eGY1GIXnAfdAhS7Ty6dQJAZ4fJDMkK1X2brDuWca0s8UWWZ4tzLuU0G8Sl3HzJ6r66BLOm+kNwPXA1bjg0+m4wIwP1zXraVxtnc8D/6uqpfkGU9Ui8GoRuRn4eeDZwEZvrMeBzwAfUtXsQhPzumu9TUQ+jcvQuRp3s1PABZv+B7hJVWcWfF79igGqsSSlowUGwuvJhWOUfX4ODo1w3lkW4DHGGNO29ntb5cR7pgOc/PBrKWaONy8RCQG3AFd5u54GPoTLntmGu4c5B5fJ/CURuUJVU6cwv6nrPgdXZ3DqN8JbcY0qDuGypzfjOoi+6FSvZU5Wy7nghK8rSCCZoRSKE0uEm5o9XSyOEAj04ve3X0elock8YS+DJxKJwJFB90FiWwtntXIK6TTd69Yd//proylCIjyvLz7PWcaYtW6hm4u/48QW4oILVijwS8DXFji/BmRUdaLB+Z3AG+fTzFLs+BTH/TJN6mqlqt8Hvt+MsVYLqYaphJP40gW2RoIAZMMRnnjyKc476/QWz84YY4xZNvP9Jr2SaxzezHRw50fAdfX3ViLyftyDpBuAc3Ht23/nVC4oIptwQaUEbjn8K1T11jmO9eMekJkmquVc/RiN+oikixSjvU2tvwNQKg4TbtMW6YOTeboDNfx+P8FgEJKH3QcdlMHTv2Pn8a+/PZHmyt5uugLNywAzxqw+8wZ4VDWJy745zntqIMCI1zrUtDm/L0ExNILmSgyE3Y1FJhxj5OATwHWtnZwxxhizfG5e4v6mE5EA8Pvelwq8duaDM1UtiMhrcQ/huoBfF5G/PMUi0H+Py5KuAC9U1bvmOlBVq7h6haaJalkX4MkFCyRyUOrroa/JAZ5iaaQt6++Ay+DpCSmRUMT9/pIaBF8AutozoDVTPpM6oYPW4UKJ5/ZZ5r0x7W7R6cF1duFuMEaaPBezSoXC/RTlcXwkj2fwZIJhMhNDLZ6ZMcYYs3xU9Q1L2b9MrsEVUwb4hqo+ONtBqjoiIp8EfgFXE/AlwL81ckER2QG8wvvyY/MFd8zymVqilfJnSOSUsY3xphZYBtdFqyt2RlPHXC2GknnOCep0i/TUEMS3gm8lmwi3RrlUpFIsHq/Bk61WyVRrbAwFWzwzY8xya+Qn3FO4Nek3NXkuZpXq6j4NgGAoxaaAHwEyoRDFfKG1EzPGGGPa39669wstJ6///MZTuObrmL5H/I9TGMecgqqXwTPpz5DI+qhItKlLtFSrlErH2naJ1tBkgaivOh3gSQ52zPKsQjoNcDzAM1pywcKNoUae7Rtj1pJGAjxT7Te/3cyJmNWrZ51ry+mPpKlmq2wKBciFIlT0VOpLGmOMMWYRzq97f/cCx9Zn2pw/51ELu9rbKvBDEekRkT8QkftEJO29HhKRD4jIM07hOmYeUzV4xpkkWu4GEbqaGOAplcZRrRJqwyVa+VKV8WyJEBVXYBkgdbiDWqS7GutTAZ7hovuzZBk8xrS/RgI8R71trpkTMatX93qXuuuPJMkmiwxEQmSjUSq+IGpBHmOMMWY5nVX3/sACxx4Gr20QnCmNt1u6zNsmcW3QHwD+FLgQ6PZe5wC/AuwTkXc0eB0zj1q2goT8jJfGCNfcL+rNzOCZapHejhk8Q8k8AL5a2WXw1GpuiVaHZPBMBXgicVeDZ8TL4NkUtgCPMe2ukQDPvd727CbOw6xi0Y0uwKPhFNmxAgOREOloN4iPTCbT4tkZY4wxba237v3ofAeqagWYao8ewBVcXhIRiQA93pc+XJv004DHgXcCr8IFdr7iHeMH3iMiv7nUa5n51bJlfF0BMseOUAq6X9Rj8SZm8BRdOc1wqP0yeIYmXYCnVi65DJ7cKFRLHdMi/aQMntJUBo8t0TKm3TXyt/xm4CeAnxOR93g3E6aNhdZtQcp+qqEk+WM5BnYHSUXjKHDo6DHOi8cXHMMYY4xZa0SkoSLFi6Cq+guLPLa+7c1iit/lgT7vfRxY6pOY3rr3Ce91C/BKVS3VfXaTiPwy0zUZ/1JEPqOqT88cUETeBLwJYPv27UucTueq5cr4YkHyx45QCrlf1GM9TczgKbZxBs9kHkGplEsug6cDW6TDdIDnWKmCD1gXtACPMe1uyX/LVfVzIvI/wEuBj4nIz6tqvtkTM6uH+HxINkAlnKQ0VmDgvC4q/gCFYIgnnzrAeWee3uopGmOMMcvh9bg6NMthsQGelTYzu3sMeN2M4A4AqvrPInId8JNAEHgzLstn5nEfAj4EcNlll9na7kWq5ir4uoKUx8YohdzDtGgTM3iKXgZPKNS/wJFrz+BkgbC41YrRaNQtzwJIbG3hrFbOVJHlqTbpI6Uy/aEA/oZXbRpj1oolB3hEZDvwDlwLzlcCV3pPuG4DBnFPjualqoeWel3TWpILUA0nKR8rMuCt382EowwfeALXwdUYY4xpS8vxG9FSghwZpjNyIiyckROte59eyqTmOOdTqpqc5/gP4QI8ANc2cD0zh1q2THB9hNrRcUqhAQJBIRRpXgZGsTRMMLgen6/96rIMTebZ2u2HMm6JVmrQfdBBS7RC0Rj+gPvzMlysWIFlYzpEI/9KHODEG5PTgHct4Xxt8LqmlUoBKokUpFwNHoBMMERmfKTFEzPGGGOWza5WTwCYZDrAs4F5AjwiEsAtqQIoA9kGrpfBdUyduldbqHNX/ee7G7iemYOrwROEyRSlUIJYvLm/oBeLI4TbsIMWuADPlm4fTHgZPCOHwR+Grg2tntqKyKdTRBOJ418fK5UtwGNMh2g00DLzaZbl+7U5qUWphJL4ciUGwlMBnjDFgjVTM8YY055U9WCr5wA8xnSgaSfzd9Lahit6DPCENtDqUlVVRB7HdckC10lrPvWf98x5lFkSrdTQYhVfLEhgMkMxFCfaE2nqNUrFkbasvwNwJFngop66AE9q0C3P6pAlSvl06nj9HXBFls+LR+c5wxjTLhotsmw6TMDfSyF0FF+xxLqgn6hPyIXCVGqtnpkxxhjT1vYBN3jvLwVunefYy+re7zuFa97PdIBnoaBN/ecLBYPMItVyroeJrytAKFWgFOllXU+4qdcoloaJx89r6pirgaoyOJnn2k0+KnhLtJKD0NMZy7MACpk0sYT7q1lVZbRsS7SM6RSNFFl+w3JMxKxukcgmCjxCIJAGhYFIiFwkSsUXQFWRDnkiYowxxqywrwC/5b2/AfibeY69se79l0/hml/CtUMHF1Sar5vYpXXvHzuFa5o6tZxra10MVYhna+TjcaKJ5hVYrtXKlEpjbblEayxbolSp0RMSxqjL4NnxnFZPbcXk0ynWD5wGwHi5QlWtRboxnWJmpwRjZtWdcG1NA+EU+UyZgXCITLQLxEcms9QOrMYYY4xZpG8Bx7z314nIrCkXIrIR+GnvywKutXmjbgGm1mC/SkTmy+J5U937UwkqmTrVrAvwZAJ54jmh4os1tQZPqTQKKKE2XKI1NOn6vXT5XZp5JByC9JGOaZEOkE+niXhLtEZKLhvMMniM6QwW4DGL0tN3JgCBSJJcqsjWSJBUzLVePHTk2HynGmOMMWuSiGyfes21v9HXYuegqhXgz6cuDfy7iPTVHyMiEdwS+i5v1/tVdWyO7+mjIqLe64/nuOYk05lC64GbReSk9BER+SWmO2hlgZsW+32Z+U1l8KT8GbqKcRAh1sQlWsWSa5LRjhk8UwGeiK9KIBAgWBiHWqVjWqRXymXKhfzxGjwjRfdnaZNl8BjTEexvulmU6PrTYRAkkiQ7UWSgO0Q60k1VfDx14GnOO+v0Vk/RGGOMabb93nZmB9ADLK3V+UxL7Sh6Ey6QchVwCXCfiHwQeAJXWPkXmK6Z8xDwZ6cwtyl/CbwQV9fnJcA+Efk34ClcV6+XcuKSsF9SVXvi0yS1rMu6mPCliFTdA7VYvHlLtErFYQDCofbL4BmcLAAQ1Mr08izomBbphXQKgGjc/bkZLrkAz8awZfAY0wlOKcAjIutwqbl7cTcWfUBAVQMzjrsG2AyMqupXT+WapjWim3bDIFTDKXIjOQY2uIeE2XCEowcfB57X2gkaY4wxzTdfgbkVKz6nqiUReQnwWeAa4DRmD+L8CHiZqp5ysWNVzYnIi4BPA88HzgTeM8uheeDNqvrxU72mmVbzlmhNlI+xXlwmRjNr8BSL7Z3BEwv5qZaLXoHlw+6DDlmilT8e4HF/bo55S7T6LYPHmI7Q8N90EXkt8H6m04GnbnRme6J1HvD3QF5EtjbjxsOsrGBPP1LwUwml0NEC28IuOzwTCJEZG27x7IwxxphlMVfn0BXvKKqqEyJyHfBK4DXAxcAGYAJ4EPgk8BFvSVezrnnMe0j3CuBncNlDm3BBnadwNXfer6pDzbqmcWq5MhL2kxobJB5yv6jHmhrgGQZ8hELrmzbmajE0mWdrb5RC4eiMDJ5OCfCkAYh0uz83w6Uy3X4fXX5/K6dljFkhDQV4RORNuHThqaDOEJABzprjlJuBvwIiwIuBjzVyXdM6IoLkAlTDSWqTBQYi7iYjEwxRTFtGtjHGmPYzV+fQVnUUVVUFPuW9Gh3j9cDrl3jNT3svs0JquQq+riD5Y8OUgt4SrWYGeEojhEP9iLTfL/1TAZ58Pk9PTw8kn4BgDKJ9C5/cBo5n8CSmiyxbgWVjOseSiyyLyA7gH3DBnUPAtaq6Dfjduc5R1RRwq/flNUufplkNJO+nEkpSTZXY4q3jzYXClGunUobAGGOMMcbUq2bL+GIBymPHKIXiBAIQDDcvGFMsDrdlBy1wNXi29kQoFArTGTyJAZAVW1XZUscDPN0uMDhSLFuLdGM6SCNdtH4dCOG6JVyjqt9a5Hl34oJCexq4plkNSkGq4STVbJGo38eGYIBcJEzVF6BWq7V6dsYYY4wxbaGWK+PvClIdG6cUSjS1RTpAqTjSlvV3CuUqo5ni8Qye6QBPZ3TQgukiy/Vt0q3AsjGdo5EAz/W4OjsfU9WnlnDe1LE7GrimWQX82k0llEQKVQC2RoJko10gPjKZTItnZ4wxxhjTHmrZMr5YEJlMUQoliDaxRTp4S7TaMIPnaNJ10NqSCFMqlbwiy4PQ0xkdtMBl8AQjUQJBF9QZKZWtRboxHaSRv+3bve33l3heytvGG7imWQUCgXWUgoMEqiVUlW3hEHfF3P/Ow8OjnOut9TXGGGM6iYicCbwMeCawFejG1SYcAn4I/LeqPt66GZq1ppar4IsF8CUzFMMJ+nqjzRu7VqRcnmjLFulDk3kA+mNuOVY0HIbM0Y4psAyQz6SPd9DKVqtkqjWrwWNMB2kkwBPxtvklntftbbMNXNOsAtHYZnI8QDCcpJirMBAJ8o1oAgWePHCYc888vdVTNMYYY1aMiGwDPgD8+DyHvRx4j4h8Afg1VT28IpMza5ZWamixiq8rSCiZp5RINLmDlmuO0Y5LtAa9AM86L+EpKgXQWse0SAeXwTOzRboFeIzpHI0s0ZpqmbTUn5TnetujDVzTrALxxE4A/JEU2WSRgXCIYiBEKRDk6MEnWjs5Y4wxZgWJyKXAvbjgjizi9RPAPSJycSvma9aOWq7stlEhmqlRCXQRbWoHrWGAtiyyPDTplmh1B1xtyEjVKyGQ6JwlWoV0imh8usAyYEWWjekgjQR47sHdqOxd7AkiIsBP4mr3LHVpl1kl4ut2AxCIpMhNFqdbpQeCZMaGWzk1Y4wxZsWISB/wv8A63D3RAeDtwGVALxD0tpcBvwPs945bD/yfiPSu8JTNGlLNuqyLXLBAd8klwDc3g2cEgHCo/TJ4hibz9MfDVMslAKKVCfdBh2bwDE9l8FiRZWM6RiMBnlu87Q0i8txFnvObwG7v/ecauKZZBaLrdwFQC6fIjeYZiLh/LLKBIMW8rbwzxhjTMX4L2IR7cPVx4BxV/WtV/ZGqplS16m1/pKp/A5zjHYd33m+1ZtpmLahlXdZFJpAnWna/qDczwFMquody7VhkeSiZP95BCyBSHHMfdFAXrXw6TWQqg6dkGTzGdJpGAjwfwz2p8gG3iMiL5jpQRLpF5M+A/4e7CbpHVf+3kYma1otuPAOASjhJYbTAtrC72cgFg5SsS7oxxpjO8RJv+xDwelUtznewqpaANwAP4jJ5Xra80zNr2dQSraQvRajqflFvdgaPSJBgsK9pY64Wg5N5BnojFApuqVa0cBRCcYj0tHhmK6NaKVPK545n8IyUKvgF1gctwGNMp1hygEdVy8ArgRwu/fgLIvIw8LapY0TkIyLyNeAI8HvedVLAq5swZ9MigXgvkvNTDSUpTRTYEAoQFKEQDlHzBUilUgsPYowxxqx9u3APrm5W1epiTlDVCnCz9+XOZZqXaQNTAZ6J4jFqgeZn8BRLw4RD/Yg08px39VJVhibzbO2py+DJHu6o5VmFjKs5FO2eCvCU6Q8G8Ym0clrGmBXU0E92Vb0LuB4YxD2JOhu4CnezA/Ba4Bqgy/v8IPB8axG69knWTyWcpJos4hNhazhILupadz5x4OkWz84YY4xZEVMZOweXeN7U8fNm/JjOVvNq8KSShymFXAZPU4ssF0cItWEHrYlcmUK5dnyJVjAYJJAe7KwW6akkANGEV4OnWLblWcZ0mIZD96r6fVxnrN/GdZFQTu4Y8RDwu8B5qnrfqU7WtJ4U/FRCSaoZV7xuIBIiH+8BVe572OJ3xhhjOsJT3nbzEs+b+q36qXmPMh2tli0jET+5saOUgwkCAQiG/E0bv1gcac/6O16L9K29UQqFAtFoFJKDHZXBk8+kAYh0u8DgsVKFfmuRbkxHOaXcTFXNqOr7VPUSXCeJC4DnAhcB/ap6vqr+larmTn2qZjWQcoRqKAV593RpIBIkGd+Ar1TgyH4L8BhjjOkIn8E9yPrpJZ73atwDsU83fUambVRzZXxdQUqjoxRDCWJdzQvuAJRKw4TbMINn0AvwDHgZPJFIGLIjHdUiPZ925RKma/CU2RS2DB5jOknTFt963SIeVNXvqer9qjrWrLHN6uGXOJVwEn+5hqqyLRxiNBCFQo5yPt3q6RljjDEr4f3AI8CzReQvFnOCiPw5cAUuu/n9yzg3s8bVchV8sSDV8XFKoXhTl2dVqzkqlXTbtkgH2OoVWY4GvV9zOqmDVmo6wFNV5VipwkbL4DGmo7RXdTWz7ILBDWigSMhXoFyoMhAJUUMgUEXFZ4WWjTHGtD0vM/lG4C7gd0XkNhF5mYj01h8nIj3e/u8A7wDuBF6kqvkVn7RZM2rZMv5YACaTlEMJYn2xpo1dLI4AbdoifTJPOOBjXVeIfD5P1O+1eO2gJVqFqSVa8Tjj5Qo1rEW6MZ2mob/xInIVLjV5v6ouWFlXRLbjOkbUVPW7jVzTrA6x2GYyQDCaJpssMhB2TwWkOwAKDzy2n+dctqe1kzTGGGOaQEQWqpUTxN0PXem9EJFxXKfRGG75er0B4Nsioqq6u8nTNW2ili0T3BTDP5mhGErQ1Rdp2tjTAZ52zOApMNAbRUTcEq2ot7Sto5ZoJQmEwwRDYYbTrkKGZfAY01mWHOARkWuAr+PWkF8GLKZ1Uh9wK6AicrWq3r7U65rVIdGzmxHAH06SS5YY2OY6aPk3b6E6VOD+fQ9bgMcYY0y72Ml0E4nZKNMdRKeOWe+9Zh4HsNU7TjFmDrVcGV8sSCBVpLi+q+kt0gFC7ZjBk8yztdfdlxYKBaLq/ZXsoAyefDpdV3/H1cvcFLYAjzGdpJEMnpd723tV9Z7FnKCq94nI3cAlwCsAC/CsUV19OyEFEkmSncgzsNv9I8KuZ+Dbfwfjh59o6fyMMcaYJjqEBWPMCtJyFS3VkK4A4VyY7HqaGuApTWXwtGkNnued1U+lUqFcLhOpFiHSC6GuVk9txeTTqRMKLIMt0TKm0zTyN/4K3M3OV5Z43leAS/FSmM3aFNlwOqSgEk5RPlagK+CnN+An2XcGPcWvUw417ybEGGOMaSVV3dnqOZjOUs25rItSsEKs1M04EI03MYOnOIzPFyEQiDdtzNWgVKkxki6y1eugBRAtT0BP5yzPAijMksFjbdKN6SyNFFmeWjP+8BLPe3TG+WYNim7aDTWohpIUx7x2lJEgQxKjpzqJ+vxMTCZbPEtjjDHGmLWnlnVZF9lQgXDV/aLe3CVaI4TDGxGZa9Xh2jScKqAKW3ujFAoFAKLF0Y7qoAUnZ/DE/T5ifuupY0wnaeRv/FQp/9wSz5vqGNFejww6jD/ahS/npxJOUkmWANgZDfNorsiGsHtScNe+x1s5RWOMMcaYNamWcwGetC+NX5chwFMcacvlWYNei/SBugyeSOEoJDqn/g5APpMi0u1+1RouWot0YzpRIwGeSW+71OpsU8enG7imWU2yfqqhFLW0C/A8q6eLQ4USiTN2gSoP339va+dnjDHGGLMG1bLuYVmyMEIl6H5Rb26AZ7g9Cyx7AZ4TM3iOdVSB5Vq1SjGbPZ7Bc6xUZmPY6u8Y02kaCfAc8LYvWOJ5z/e2i+m6ZVYxKfiphJJo3j1lenZvNwBjF7wAX7FAeuRQK6dnjDHGGLMmTWXwpNJDlEJxAv4agZC/KWOrKqXSSJu2SHcBni09kekaPBQ6qkV6IeOeoUfjXgZPqWwZPMZ0oEbCut/CtUd/qYicq6oPLXSCiJwPvAxXnPmbDVzTrCJSjVEOJQkVqwCc1x0lEfBxX89uNpT+h0JwParaduu7jTHGmNmIyJXAs4BtQAJY6DdyVdVfWPaJmTVnqgZPenIIXyhBNNa8+inVaoZqNUe4DTN4BicLrO8KEQn6p5doUeioDJ58OgVwQpFl66BlTOdp5G/9h4HfxN28/J+I/Nh8QR4ROQ/4vHd81TvfrGEBXw+F8CGCqpRLVYIhP5f3dPP9TJHXaIoj/k2MjE+waf26Vk/VGGOMWTYi8hLgr4HTGzjdAjzmJLVcBYkEKI2N4AvuIdbkDlrQvi3St/ZGAY4v0YpQ7KgaPFMBnkg8QbZSJVutWQaPMR1oyY8FVPVx4P2AANuBu0XkwyLyEhE5S0S2etuXiMi/AncBO3DZO/+8mIwfs7qFgxvAXyEcLJBLFgF4dk8XT+SKhNe7tNDv/fCBVk7RGGOMWVYi8ivA53DBHVngxSxfG3OSaraMvytAdXycUihOrC/atLGPB3jaMIPHBXgiAOTzeUJ+8KMd1UWrPoNnqkW6BXiM6TyN5n3+NvAF3E1KGHgD7ibnYVyNnYe9r1/vfS7e8W89pdmaVaGr261nDkaTZL1OWld6dXhy514Gqux/8J6Wzc8YY4xZTiJyOvB33pfDwM8D53hfK/Am4Hzgx4B/ADLe/puB3TSW8WM6QC1XxtcVRCeSlEIJutZ3NW3sYnEEoO1q8KjqSRk8UX8NYush2LwA2Wo3HeCJM1JyS/02WZFlYzpOQwEeVa2q6kuAdwDjzP/Uahx4u6q+VFWrTZm1aal4z04AfOEkuUmXwXNBPEbM7+Pg9ovwFfPkJ0daOENjjDFmWf0Kbpm7AntV9aOq+mjd5yOq+pCqfklV34oL9twLvBb4bVU9uNITNmtDLVvGFwvim8xTCXYR6wk3bexiyd2bhUL9TRtzNUjlK2RLVQa8AE8+nycqnbU8CyCfniqynGDYMniM6VinFNZV1feKyAeAFwLPZbq4YAo4DNwGfElVc6c6UbN6RPt2wQRUwymKx1whu6BPeGaiix8Ug/x4OUXWCi0bY4xpXy/ABXc+r6r7FjpYVZ8WkRfhMpx/WUQ+p6rfWO5JmrWnlq0Q3NJNIOODcPNbpPv93QQC3U0bczUYrGuRDi7AE6nloadzOmiBy+AJBEMEwxFGSi7YYwEeYzrPKeftqWoW+Kz3Mh0guuH04wGe0ljh+P4rerv4y/1pXh6ukfEHOTA0wq6B9koDNsYYY4Cd3vZ7c3x+0m/lqjosIh8B3gb8ImABHnOSWq6MLxYgmHf1ZJoZ4CkVR9q2/g5wwhKtDdVUx2XwFNJpIgnXQetYqYJfYF1woYZ+xph207zei6ZjhDfuhCpUQknKk/UBHvdEKLV9NwC3f//OVkzPGGOMWW5xb/v0jP2FGZ/P9CNv+6ymz8isebVSFS3XqEUgVHa1d6LNzOApDRMOtWGAJzkV4JkqspwjUkt3VIt0gHw6ebxF+nCxTH8wiM8y6Y3pOBbgMUvmD0fwZfxUwklq6dLx/RclYkR8wtgZF4Iqw4/e18JZGmOMMcsm621n3kdNetudc5w3tV5ic5PnY9pALefqpuRDJYI194t6c5dojbRdgWVwS7RCfh8buly9onw+T7TDWqQD5DNpot0utjxSKrPRCiwb05Ga8jdfREJALxBZzPGqeqgZ1zUtlPNRDSVR72YEIOzzcUmii33FAa4u5SmU8y2coDHGGLNs9gN7gJm/LT+CC948b47znultS3N8bjpYLes6H2V8GXzS3ACPqlIsjhBqyyVaBbb0RvD5hHK5TLVaI0qh4wI8hXSKxE6XRT9SqrA5bPV3jOlEDWfwiMhZIvJ+EXkcyAFHcDc8C72eOtVJm9aTUohyaBIKlRP2X9HbxYP5GkHyVHxBarVaayZojDHGLJ8f4TqFXjhj/63e9ioR2Vv/gYg8E9dOXYEFCzObzlPLuQBPOn+MUiiO31cl0KQaKpXKJKqltszgGZrMs7VnusAyQIRiBy7RShPxlmiNlMpsClkGjzGdqKEAj4i8AbgPeDNwujfOfK3SZ77MGuevxqiGkoSqSrUyHcS5orebGjDZ348Ggjzw+MzyBMYYY8ya901ve92M/TcDRe/9F0TkUyLyFyLyKVxn0ame1x9bgTmaNeZ4gCdzlFIoQTiiTRu7WHQt0tuyBs9k/oQCy4BbohXf2sppraharUohmyEaT1BVZbRUsQ5axnSoJYd2ReRy4F+YDtbkgbuAQaZvakybC/h7KYWfJOSrkUuViK9zq/MuSXQRFGH0tDPY9uBj3HX7d9hz9mtaPFtjjDGmqb6AW2a1TUT2qupXAVT1oIj8HvA+XL2dn6o7Z+oB17dw91HGnKCWdVnR2dQRSqF1xLqbl4FRLA4DtF0GT7laYzhVYOB4gWWXwRONRCDQvPpFq10hkwFVovE4Y6UKNWCjLdEypiM18i/Hb+MydhT4B+APVDXT1FmZVS8S2kjO9zihUI7sZPF4gCfm93FxIsYh32627XuU8YOPtHimxhhjTHOpalpE4rj7ofKMz/5ORI4BfwLsqvsoC3wQ+H1VtfXL5iTVbBkEcpNHKAV30tsXa9rYxzN42qwGz3CqQE2nW6QfX6LV3dPKaa24fDoFQDSeYKTkfiRttCVaxnSkRpZoPQcX3PmSqr7Vgjudqav7NAD80SS5yRMTt57d08WD1TBaLVEuFmY73RhjjFnTVLWsqsXZgjWq+nFV3Q3sBq4ELgLWqepvq6plO5tZ1XJlfNEAlfFRSqEE3eu7mjZ2seQyeEJttkRraNLdZ560RCuxvmVzaoVCOg1AtDvOcMllgtkSLWM6UyMBnqmfmJ9r5kQWQ0R6ROSVInKTiPxARMZEpCwiEyJyn4j8k1fEcClj3uitkT8oIgURGRGR20XkbSKypH9ZReQKEfk3EXlSRHIiMi4id4vIH4jIhqV9t6tbd+9O9yacJjt2YhDnit5uqkAy0UU5EKFQqpx0vjHGGNPuVHW/qt6hqverannhM0wnq2XL+GJBauMZKsEYsfXdTRu7WBwhEOjB719Uw9s1Y2jSZeyclMHT115L0RZyPIMn0WMZPMZ0uEYCPMe8bbqZE1mIiLwdGAY+BfwycDmwDrfMrBfXyeLNwJ0i8jERmTevVUTCIvIJ4EvAK4HtuOKH/binbe8D7hORmR0yZhtLROR9wO3AG3CFp6NAH3AJ8KfAPhG5Zonf9qoV6dsBQDU0SWn8xHboz+zpwi9wbOMWNBDkB3c/2IopGmOMMcasGbVcBV8sgKRcceVmtUgHKBWH2255FsDg8QCPC1wVMpMARPo6p8AyTAd4It1xRoqWwWNMJ2skwHO3tz2jmRNZhLOY7j7xFPAh4FdwwZlfAj4NVL3Pfw74bxGZ7/u7Gfhp7/0Y8B7gZ4DfAO709u8Gviwipy0wt/cAb8MVUMziahP9HC4Q9TXvmE3ALSJy0QJjrQnRfve/vxJOUZo4MYOnO+Dngu4YRza50gMP33nrSk/PGGOMWVHew57zROR6EXmZtz1PRKx7qFmUWraMryuIP+tao8d6wgucsXjF0gjhUPtltQxN5umLBYl52Sr55BgRCvh6t7V4ZitrOoPH1eBJBHxE/Q01SzbGrHGN/M2/CRfIeM0CAZRmU+D/gOer6m5V/SVVvUlVP6OqH1LVVwEvAKZqAu0FXjfbQCLyEuBV3peHgEtU9Z2q+glV/UfgCuAj3udbcNk8sxKRi4G3e18mgStV9S3e+vsPqupe4N3e593Ah9rhZi+84TQoQyWUpJo8Oev8it4unoj0UREhPXyoBTM0xhhjlp+IXCoiH8fdA9wPfBn4rLe9H0h6mcWXtnCaZg2o5dwSLX/RLTeKxZuXwVNs0wyeI8nC8eVZAPlMkghFSHRegMcfCBAMRxixFunGdLQlB2hU9SvAPwPPAD4sIiu1wPPtqvrjqvrteeZ2G/B7dbteP8ehf1z3/s2qekIEwiuY+Ku44A/AT4nI+XOM9S6mW5++U1Xvn+WYdzOdFfRM4EVzjLVm+IJBfBkf1XASzZVO+vyK3m5KCOOxGKWqtmCGxhhjzPISkfcCd+Aygrtx9wMzX924DOE7ROT/tWiqZpVTVarZChLz46+4EpCxnuYEeFRrlErHCLVZi3RwGTz1AZ5CLkOUAvQMtHBWK6+QSRONJxARRkpl+q3+jjEda8l/+0VkO/BeoAeXIfMsEbkJd4MzCizY+nNmQGUxVHVikYd+BvhH7/0FMz8UkTNx3SwAHlfVL85xvbyI/Auufg64pWD7ZowVB17ofZkCPjrHWCoi/wh8zNv1Klw20pomOT/lcBLy1ZM+e1ZPFwKM9vaxKTnJeDrLunjzukEYY4wxrSQi/wy8kemHPBO4WnxP4JZrd+GWsz8HV5PPD/y2iPSo6i+v/IzNaqblGlRqFMMVAhoHIBpvThZGqTyOarUtM3gGJ/M8+/Tpjln5QsFl8HRvbuGsVl4+nSIaTwAwUiqzJz5vKVJjTBtrJLx7ALdcasozgL9fwvna4HUXq774c3SWz2+oe/+VBcb6MtMBnhtx2Tr1nsd0XaDvqGpunrHqr3XjAtddE6QcphKfJFipUavW8NWt9e0JBjivO8qR/gHOHTzM7bfdwU+86NoWztYYY4xpDhG5EXgT7p4mjVuq/W+zdcoSkSCuAcN7gQTwRhH5nKp+dQWnbFa5Ws790cmTRf0J/L4ygaC/KWOXiq5FervV4EkVyqQLleMFlgEKxTKJAODvrAyWfDpNxAvwDNsSLWM6WqM1dGZLQV7KaznVL6U6uMDnd8/yeb17mS7cfO4stXMWPZaqHqubT7+IrPnHKH7tphpKEhbIp2evw3MosZGqCIfu/V4LZmiMMcYsi6kMnApwvVdzb9Y26KpaVtUP4WoDTh3zqyswR7OG1LKu81GmMEoplCAYqjRt7GJxBKDtMniOTLomH1t66mrwlJVouPOCG1MZPNlKlVy1Zi3Sjelgjfztv7nps2iuN9W9n20Z1Fl17w/MN5CqVkRkENdCvQsYAA43MpbnILCj7tyRRZyzagX9fRRDw4R9SjZZpKv3xG4Pz+7t5l8Oj3Ksu5f48JMtmqUxxhjTdM/CZe/8u6reudDBAKp6p4j8O/AL3vnGHFfLuthfNneMUihOJNa8PibFqQyeNqvBM3S8RboL8Kgq+ZqfSGS2BP72VkiniMbjjJS8FukdGOQyxjhLDvCo6huWYyLNICJX4tKgAQrA385yWG/d+9FFDDuGC/BMnVsf4GlkrNnOXZOi4U1kfA8TDKfJJk8utPzsnm4ARhIJThu2Vo3GGGPaRq+3/c4Sz/sOLsDT08hFvUziVwKvwdUT7AfGgYeATwAfVdXmpX7MPoc+4GGgPlqwS1UPLOd1293UEq1s5iil0BZ6E81tkQ4QCm1o2pirwaAX4BnwAjzlUokaPqJd8VZOa8VprUYhkyEaTzBccn+ONtkSLWM6Vtv81i0im4FPM/09/aGqHp7l0O6694VFDJ2vez/zX4xmjnUCEXmTiNwlIncdO3ZsEUOvvO64S0byRZPkxk/+9teHApzdFWG4r59KqIv9Tw+v9BSNMcaY5XDU257cZWB+U8cfnfeoWXiBla8DnwR+DJdVHAI2A9cA/wL8wGuGsZzex4nBHdME1akMnuQRSqEEPesTTRu7WBwmGFyPz9e8tuurwdBknoBP6I+7YFh+0v21inT3tnBWK6+Qy6JaI9KdmM7gsSVaxnSstgjwiEgXcAvuZgfc0qy/ad2MTp2qfkhVL1PVy/r7+1s9nVlFe04DoBpKURjNz3rMs3u6ONy7iWogxJ3f/sZKTs8YY4xZLt/3tpct8bxnetslFaYTkRDuPucab9fTwB8CrwZ+B5dRA3AJ8CURaV504MR5XA+8HtcxdTEPtswi1bJlECiOj1IJxIhvbCjJa1al4kjbLc8CF+DZ3BPB73MlMvOjTwMQ7Vk/32ltJ59KARBNJBjxMnj6LYPHmI615gM8IhIBPg9c7u26HXiVquocp2Tq3kfmOKZe/ULe9IzPmjnWmhNZtwuASjhJaWL2+7wrersp+oOMxnsYefTeFZydMcYYs2w+gKvB84sicvpiTvCO+wVcFs/7l3i9NwNXee9/BOxR1T9T1U+q6l/jAjtT3TrPxQV/mkpEYsAHvS8/AFhabhPVchV80QBV736qa31X08YulobbrsAywNBk4Xj9HYDC+BAA0d7OapFeyHgBnu44I8UyAYF1TerAZoxZe9Z0gMd7ovU5pp9o3Qm8SFWz85w2Wfd+MYuR6x8DTM74rJljrTmxjWcAUAklqcxSgwdcgAdgqGc9+Wxm1mOMMcaYtURVbwf+ALdU+9sict18x4vItcC3cA0b3qmq35/v+BnnBoDfn7o08FpVnZgxnwLwWmDq/ufXRaTZaQx/BuwCBuvmY5qklivj6wqiaZeNEks0bzlVsThCONR+AZ7Byfzx+jsA+UkXc4ys29qqKbVEPu0FeOIJhksV+kNBfCc1/jXGdIp5F2iKyFLXloNL253EPdn5AXCLqn6+gXHmJSJB4DPAC71d9wA3qmpqgVMfA17gvd+5wDUCTC/7yuJuamaONWXesTw76t4/NudRa0Ro/VakKFRDKSqTs2fwbAoHOT0aZiTRR8kfplKpEgjYUwVjjDGrn4i8dp6Ph3DLpl4CfEVEHgS+ATwB5IAYcAbuIdT53jm3AMMi8lpV/fdFTuMaXDFlgG+o6oOzHaSqIyLySVyWUNib178t8hrzEpHLgbd4X/66qqbFfoFsqlq2jC8WxJcLQhSiTQrw1GoVSqXRtluiVa0pR1MFtvZOJ9AXUq6XSbTjAjxuUUAknmDkaNbq7xjT4Rb6CSC4p0VL+VfcD6zzXucAr/duen5aVR9qaJYzJ+UCL58AXuztegC4fuYTrTnsq3t/KfDReY69CPf9ADw0y7KvmWPNSUT6mQ7wHFPVNd0iHUB8PiQjVMKTVDNl0uMF4utOXql2RW8X/5XqpxyOcd8Dj3Dpxee1YLbGGGPMkn0Udx80n6n7pPO812ym7qde4r0UWGyAZ2/d+y8vcOyXcQEegBtpQoDHe6D2YVzW9y2q+t+nOqY5WS1bwb8ugpTdfVSzMnhK5VFACbXZEq2RdIFqTU9YopXPJIEeol3dc5/YhuozeI4dSrLFWqQb09EWs0SrkUc0MuN1PnCHiJzyb/Yi4gf+A/hJb9dDwHWqOjb3WSf4St37GxY49sa697PdVN0KFL33V4tIdJZjZrvWQjdoa4bkA5SD40REOPjA7J3ir+jtphAMM9azgQdv/9oKz9AYY4w5JTPvaWZ7LXTcbJ8v1vl17+9e4Ni75jjvVLwDuABXO/DXmjSmmaGaK+OLBfBXXe2dWLxJAZ6ie57Ybhk8Q16L9BMCPNksghIKtVe3sIXk0yl8fj+haJThUtkyeIzpcPP+BFDVJdfo8QIwCWA3riDgm4CzcevUPyMi581TAHmhsX24p1Gv8nY9Cly7lGwYVX1cRO4BLgbOFJEXquqXZrlWBHhj3a5PzzJWRkS+CLwM9z2/HrhplrGEE2+KPrXY+a52vnKESmKSRFg4uG+M85+37aRjnu3V4TnSu56JJ+5c6SkaY4wxjXpDqycAnFX3/sACxx7GFXH24+5xpNF7LgAROYfpejt/oKqHGx3LzE1VqeXKVCOKSByfFPEHm1Mms1h0dWnarQbPoFcaoL4GT6FYIOKv4fOt6RKjS1ZIp4jGE9SAsVKFjdZBy5iO1vQQr6pWgQncU6S7ROT9uNTe1+ACPT+Fq52zJF6Q5IO4IoLg1rhfo6pHG5jmu4H/8d7fJCJXq+qhumv5cB0itnu7Pquq+5jdnwIvxT2Ne4+I3K6q98845l3As7z3P1TV/2tgzquSnzil8BjdQeHwIxNUSlUCoRNr7GyLhDgtHGSoZz3FYqVFMzXGGGOWRlVvbvUcgN6697OnynpUtSIiKaAPd4/XxYkdPxfNuxf6MK6ez10svfOXWSQt1aCiFMhSCSQIBMpNG7vY5hk8W3q80gCq5EsVIuHOCu6Ay+CJxhOMlirUgI22RMuYjrbsOXyqWhaRN+IKGw/g6uYsOcAD/Dnwi977MvD3wOWLKPL3VVXNzZjTLSLyKVwm0A7gRyLyQVwtn/W4INJU2/UjwG/ONbiq3iMi7wV+F+gBviciH8Z19OrGLSWbWj+fwWU0tY2Qfx2F8CCRSoVwVRl8fJId553cuOOKvm6+kF5PIRAllc6QiHfW+mhjjDGmQfX/YM7e0eBEeVyAByBOgwEe4FeAK3EZQW9S1VqD4yAib8K7/9m+ffsCR3eeWtYFdHLFCUqhBKFIw/+pT1IsDQM+QqFmN1VrraHJPIlIgHjEC2ZkRylokGi4s5ZngSuyHInHGSm5P0ebbImWMR1tRX4CqGrJC6j8FtOBk6W6su59EPjHRZ63i9lTml+HK3L407igzjtnOeZJ4OWq+vQC1/g93BOut+Celr1llmNGgFer6r2LmvUaEYttIcUDVEIptoZ7OfjA2KwBnmf3dvPpoxHG1m/ih9/7AdfecG0LZmuMMcaYhYjIduA93pd/p6r3nMp4qvoh4EMAl112WcNLxtpVLecFePKjlENxYt3Nuz13LdL7cRUU2sfQZP6E+jukDpMnQjQ6XznM9pRPp1i/7TRGSi5L3pZoGdPZVjKP8QFvuyoWAatqUVVfjWuz/hngaVzB5FHg+7isnT2zLLeabSxV1bcBz8F13HgK95RtEvgRbonWear6zeZ/J63VHXdP4pI9R9ieCHJw3yizLfe/0qvDM7RuMwd+9J0VnaMxxhizEkSkW0TOEJGLvW0z0lXrM3BOblV5svrfcNMNXvMmXObQQeCPGhzDLNJUBk82O0IxlKC7L9a0sUvF4bbroAWuBk99/R2Sg+SJEInFWzepFilk0kS7Ewx7GTxWZNmYzraSPwGy3rahf7VU9fnNm8oJ436ZJnW1UtXv44JDHSOc2A5FGI09wdnHziM/WWZyOEff5q4TjtsRCbHRD0O9G0g/cnuLZmuMMcY0l4hsAn4VeDnwDE7skKUi8gjwWeAmVR1u4BKTTC+52sA8S65EJIBr+gBuOXt2rmPnGeNngRd5X/6Kqi55DLM0tZzLvMhNHqMaOI+ejb1NG7tYGiESObkBxlo3NJnnsh190ztSgxQIE433tmxOraCqrgZPIsExr85lv2XwGNPRVjLAs87bJlfwmmaZRTfsgkGY8D2GKGwKCAceGDspwCMiXLGuh6/l8uSrgqqyiPpJxhhjzKolIq/GZbtMpQ3M/IdNgHOAPwTeKiK/rKqfXOJlHsMtNwfYyfydtLbhOmgBPNFgB62peodHgUtE5JI5juupe/9rIjLpvf+XBgNZHas6VYNnYhKAvs0bmjZ2sThCT89c/wvXpkyxQjJfPmGJlk5l8MT75jmz/RRzWbRWI9IdZ7hUJhHwEfV3XqFpY8y0lQzwPNvbWovNNhLt3w2DkCo/ha87yHa/j4P7xrj4+pOLKD6nL84tx5KM9m7m8NNDnLZ9oAUzNsYYY06diLwG+AguiCO4un4P4wIyGdwSpzNxWT0+XGbNx0XEr6ofX8Kl9gE3eO8vBW6d59jLZpzXiKkg1WZcp9DF+K269/8LWIBnCWq5MgiUkq4zVNf65izRqtWKlMvjbdci/YjXQWtr7/SKxeLEEMq2jqvBk0+nAIjGE4yUymyy7B1jOt6KhHhFZDPwStzNj63PaSPBvo1IDiJSIrW9wnqUo49PUsqf3A79Cq8Oz+HN27nntrYrR2SMMaZDePc1/4S7j1LgA8BOVT1PVV+mqq/xtufjsm7eD9RwwZN/9s5frK/Uvb9hzqOcG+veN2X5uVl+tWwZXyyIZlxsLZZoTieoYnEUaL8W6YNegKe+Bk8h6drBd1qAp5B2ZbZcgKdiy7OMMcsf4BGRXbinOVNrdv5zua9pVo6I4M8F6A7C7d334KsqfT54+pHxk449IxamRysc6dvI0YfubsFsjTHGmKb4Vdx9jQI/r6q/PlfHTVU9rKq/AbzB2xXDtSBfrG8Bx7z314nIebMdJCIbcZ1BwTV6uGUJ1zhOVZ+vqrLQC1eAecquus/ubeS6nayWq+DrCqBF98t5NN6cAE+p5BKp2q3I8tBkAeCEJVr5lLvvjEQWU4e8fZycwWMFlo3pdPP+FBCRqxscMw7sBq7CPU0K4W6CvuwVIjZtJFCM0NVV4m/zn+WGwMUMRPwcfGCM3RefeEMhIlzWHeEHxQ1kkpOtmawxxhhz6m7E3dd8SVX/fTEnqOrHROSVwI/hOni+a5HnVUTkz4G/w2UA/buIXKeqE1PHiEgEuJnph2nvV9Wx2cYTkY8Cr/O+fLeq/vFi5mGWz1QGj1RcwCLWpABPseiyWsKh9srgGZrM4/cJG+Nht6NWpZD1Ah0dlsEzFeCJxOOMHBm1FunGmAVr8NyKu4E5FVNruR8FXnOKY5lVKJbdQuGMx6kMjZLdVmPrYT/f3jeK1hTxnVhv8vmbNvCNbIVjsfVUyiUCwebcxBhjjDEraKro8eeXeN7ncQGeXQsdOMNNwE/iHpxdAtwnIh8EnsAVVv4FXDFngIeAP1vi+KaFarky/nVRpNaFjwL+YHMS7IvFowCE2y2DJ5lncyJCYKqYcGaEvHrZTx0a4KnGuslVR+i3DB5jOt5i/gWRU3yVgQ8Dl6vqyet2zJq3ZevLwQc/jo8fdD9AqFLDnykzevjkTq7PWe+abhzaspMH739opadqjDHGNEO3t52Y96iTTc44f1FUtQS8BJgqYHcaLojzSeCvmQ7u/Ah4oapax9I1pJqtQFTAF8fvLzRt3GJxBJEgwWB7dZYamsyzpaduKVZqiDzu605coiU+H0m/e2C6KWwZPMZ0uoXCvN9h6Rk8VSCFa695J25Z1tEG5mbWiP7nvYrgf/0Vl6yr8TeTn+MaLmRz0MeBB0bp3x4/4dhndEWIVUoMbtzGo9/7Onsuvag1kzbGGGMaN4brMnXGEs+bOn7W5VPzUdUJEbkO17TiNcDFwAZckOlBXLDnI6p6cpcDs2qpKrVcmRJ5SsEEgVDz/vcVS8OEQ/2ItFfb7KHJAhed1ju9I3WYAm65Vqdl8BTSaVd/p+z+3NgSLWPMvAEeVX3+Cs3DrGH+nh56j53JsZ2P4sseIddf5bTxAA/uG+OZP3ZiFrpPhPMDNR7p62fs7v9r0YyNMcaYU3Ivro7O60Xkr1W1vNAJIhLE1b5R7/wlU1UFPuW9GqKqrwde3+j5dePsPNUxDGixClUlX05SCsUJxWThkxapWBwh1GYdtGo15Ugyz4su2DK9MzlInggiQijUWUv/8+nU8QLLABttiZYxHa+9QvqmZbbsfhWU4UXBAD9KPEJ3VZk8mCKfLp107HM2rCcV7WYYe8pgjDFmTfpvb3sG8DERCc93sIiEgI8CZ3m7/mv5pmbWklrOZV4UiuOUQgmiPc0LUBSLI21Xf2c0U6RcVQZ665doDVKQLqLRKCLNC5CtBflMikh3nGMly+AxxjgW4DFN0XfNTxB5wMczEkU+yxcQYFNAOPTgyVno121zT5P2bzyd9MTkyk7UGGOMOXUfAR7z3r8CeEhE3iIi54pIAEBEAiJyjoj8Bm4J1U/jsncexXW8MoZa1mVeZDOjVANRutcvqTzTvEql4bYL8AxO5oETW6STPEw+2Ntxy7MA8imXwTNcLBMUoS/ob/WUjDEtZgEe0xSBdevom3gGvlCFYOIpil1VBqIBDu47OcBzUW+cUKXM4c3bueeO77dgtsYYY0zjVLUKvBhXS0eAncD7gAeAoogUgSKwD/hb4HTvuFHgxd75xlDNuQBPLunqYvduXteccas5KpV0G7ZId0WoTwjwpAbJ++IdV2AZoJBJE43HGSlV6A8F8HVYBpMx5mQW4DFNs+ncV+BLwfURP/f3PcEGHxx+aJxatXbCcX4RdhfTDG3YwqG7v9Oi2RpjjDGNU9XHcIWOv8LJHUSDs+z7EnCJqj7RkgmbVWkqgyeXcp1H1w9sbsq4xeII0IYt0mfL4EkNUZBox2XwqOoJNXisRboxBizAY5oocd2NRH/oY3tXga8EvoxPIVGqcnR/6qRjL0/EmOhKMDQ+2oKZGmOMMadOVQdV9YXAHuDduCDOvcCT3vZL3v49qvpjqjrYoqmaVaqW9WrwpF3gItHX1ZRxpwI87VZkeXAyT3c4QCLiBTOqFUgfIa/BjsvgKeXz1KpVIl6AZ5PV3zHGsHCbdGMWLbhpI32T55L17SOw4WEqh2tsCfk4+MAYW8/oPeHYF2zdzM1PT/JY72lorYb4LNZojDFmbVLVB3DLs4xZklquDD4oZasQg1iiOUWWi6VhAMKh9svg2dobmS6mnDkKWiNf9XVcBk8+7R6gugyeChfHmxMcNMasbfZbtWmqDZe9jMDTwtVdyiN9B9kS8XPwgZOzdJ63fYBAtcLTW3YyeODAyk/UGGOMaZCI1ESkKiIfafVczNpWy5XxxYJQco3YovHmBHhKx5dotVcGz1AyP6PA8iA1oFCudVyAp+AFeILdcUZLFTaG7bm9McYCPKbJEnuvJ3aHj/XhIt/t+hKhmlIdzpEeL5xwXDQUZCA9zuGN27j/9m+1aLbGGGNMQ8re9tstnYVZ82pZF+DRahSf5vAHmnNrXiwO4/OFCQQSTRlvtRiaLMyov3OYIi441mlLtKYyeApdcRRrkW6McSzAY5oqODBAX+ZcqEJg4wMoyqagzNpN6wJfmbF4H/sfs6x2Y4wxa8pRb5tr6SzMmlfNVvB1BYAufJJv2rjF0gjh0KbppUxtIF+qMp4tMTAjg6fgBXg6LYMnn0kDkA7HANhkRZaNMViAxyyD3qt+jPCDwqXxMk8lBhmI+GcN8Dx3Yz+I8Ig/1oJZGmOMMQ2719ue3cpJmLWvlivji/ipBhL4g6WmjVssjhBqtw5ayakOWnWZOqkh8gHXWr7jMnhSLoMnFXLft2XwGGPAAjxmGbhlWn5i/gr39P8vcWD00XEq5eoJx129bSv+WpUnN55OuVCYfTBjjDFm9bkZ1/r850TEHpubhtWyZSpSpBSME4hUFz5hkYrF4fZtkd5z4hKtfGwr0IEZPOkUIj4mvB9B1ibdGAMW4DHLILRzJz3Fs/AV/AQ2uuVXGxSGHp884bjtWzazKTXO4U3beeS+e1d+osYYY0wDVPVzwP8AZwIfE5HO+s3SNIWqUstVKFYzlEJxQt3+po1bKo20X4HlqQDPzCVaUfd9dlqAp5BJEenu5li5AlgGjzHGsQCPWRaJa28k8gPlrO4cw7Gh4+3S6wUCAXZmJznWt4H77rytRTM1xhhjlkZEtgPvAL4EvBJ4RET+SESuEZGzRWT7Qq/WfgdmNdBiFWpKrjBJNRAl2tecJUbVaoZqNdd2LdIHJwuIwOae+iVag+RD64HOXKI11SK9J+An4rdf64wxMGcun4hcvVwXVdXvLNfYZnWI772e2K//A7nnVXhw2y08/7E388gDo+grzzyh4N8zu0J8T3zcl0rxcy2crzHGGLMEBwCt+/o04F1LOF+Z5x7MdIZa1jVjy2WSQJx4f09Txi22a4v0yTyb4hGCU4GMSgkyIxQ29gGVjsvgyWfSROIJhktlNtryLGOMZ76fBrdy4s1Ls9hNTQcIn3kmXbKLycnD+Dfuw/cYRJJFkiN5ejdNF1W+atsA/5iq8Xh8E6raVt0ejDHGtLWZ/2DZP2BmSarHAzyuG1Lftv6mjFssDgPtGeA5ocByeghQ8r5u/P40wWBnLVHKp1P0bNzMsVLFlmcZY45bKNBiNyumISJC4oYbGf/OTWx+cYVk99NsLg1w4IFRLto0nZl++sBW+gcf5uDm00mNHqOnv73SiY0xxrSlm1s9AbP21XKudko+kwOgf+uWpoxbLLVvBs/5A3VZTslBAPJEiETKHfeQsJBOsXn3mQwXy1ySsI60xhhnvgDPu1dsFqYtxfdeT+wX/pn0T8Bj229hT+ZXeeCBUS66bjrAs3HjRrYmb+O+bWfwwzu+x3U/8dLWTdgYY4xZBFV9Q6vnYNa+qSVahVwRgL51iaaMW/IyeEKh5mQErQa1mjKULHDDeZund6aGAChosOOWZ6kq+XSKiFeDZ2PYMniMMc6cAR5VtQCPOSWRc88l0rWNyNFJshv3EXxIKexPUipUCEXcH71AIMBZ5Sz3+Px8d//jXNfiORtjjDHGrIRazgV4irkaRCGWCDVl3GJxBL+/m0CguynjrQZj2RKlSu3EDlqpwwDkq9JxBZbLxQLVSgXtTpCv1WyJljHmOCu3bpaNiBDfu5fI13J0hQpk+x5lo084/MjECcdduaEPUeUh6ax/nI0xxqxNIhIRkc0iYusiTMNq2Qr4hHI5gK+axd+kLkjF0gjhcHsteZ+rRTqRHvKFUsdl8ORTKbdN9AKwyYosG2M8FuAxyyq+93oid9egFuTg9i+yOeTj4AOjJxyze9tpbEhP8tT67VQrlRbN1BhjjJmbiPSKyHtE5HEgCwwCaRF5UkT+UkTWt3iKZo2p5cr4ugLUNIpPsk0bt1gcbrsW6dMBnhNbpJPYRqFQ6LgAT8ErzJ2Nuiwty+AxxkyxAI9ZVtE9ewj1bSJ+cCNseIiuYImRfaOoTjdo27p1K1uSYxzZOMCBJx9v4WyNMcaYk4nImcA9wNuB03FNKKZeO4HfAe4RkWe0ao5m7almy/hiQWrSjfgLTRu3WBxpuwLLg1MBnp76DJ7D0DNAPp/vuCVa+VQSgHTYJRFuDFsGjzHGsQCPWVbi8xG//nrC/ztOwF8lvfFuegpVRg9njh/jCi2PUvUH+N+7727hbI0xxpgTiUgA+CywY2rXzEO81zbgMyJij9LNotRyZXwRH5VgAn+o3JQxVZVSaZhQmy3ROpIsEA366Y3V/fVKDVKLD1AsFjsugyfvZfAkg2HAMniMMdNOKcAjIjtE5J0icouI3C0ij4vIUwu8nmzW5M3aEN+7l+AjFaQSZ3jgm2wOCgcfGDv+eSAQ4Hwpgyp3pZuXomyMMcY0wU8CFwAKjAFvAgaAkLf9JeCYd+y5wCtaMEezBtWyFdRfpRSM44/pwicsQqWSpFYrtV0Gz9Bknq29kelW6OUC5MYoxLYCdF4GT9rV4JnwBQmK0Bfwt3hGxpjVoqF8Pu9p1nuBX2c6SDTziZYusN90iNhllxLoW0/fkwnGznqMeNc4D9zfxWUv2nn8mLO272B9NskT3RtaN1FjjDHmZC/3tnngear6cN1nR4B/EZHbgLuAKPAy4D9XdopmLarlylQiRaqBCOGe5mRgFL0W6e1Wg+epY1m2r6uraZ4aBCAf2Qgc6LwMnnQKRJhA2BgKTAe+jDEdr9EMnn8B3gL4cQGcYW+/4p5ijXrvpW7/YeAgcKjRyZq1Sfx+4tddR+i/jiACma13IENpCpnpdOSBgQG2TI7xdP9ppJLJFs7WGGOMOcEluPuYj88I7hynqo8AH8fd91y8gnMza5TWlFquTL7oltpE1zenIVuxOALQVhk8+VKVx0fSnD/QM73TC/AUQq62eecFeNJEuro5Vq7Sb8uzjDF1lhzgEZGrgNd5X34X2K2qW+sOeaOqbgR6cWnNd+NueB4DLlPVXac0Y7MmxffuxXe4iL88wMTW29gYEA4+OL1Ma8uWLWxNjlEJhvjy/Q+0cKbGGGPMCaZ+U/7eAsdNfd5eqRNmWWihAjXI5dzS9Pim3qaMWyx5GTxtVIPn4aMpasqJAZ6kl8ET7AU6c4lWNJ5guFhmkxVYNsbUaSSD5+e9bRZ4iarun+0gVc2o6n8DzwI+CrwA+JyIWGHnDtT1rMvx9fSw4dHNVLuG6d2w/4R26Rs3bmRryn39zYMHWzVNY4wxZqZubzuxwHGT3rZr+aZi2kUtVwEg7wV41p22uSnjlrwMnlAbLdF6cNBldp+YwXMYgILP/XXrtAyeQjpFJB5npFSxAsvGmBM0Emy5kulU5YVudlDVGq4g4ZPAc5nO/jEdRIJB4i94Af7P7KemAXID3yPz8Di1mivJFAgE2NGTYF1mkod8nfUUxhhjjDGdpZpzy9Tz+SIA/VubE+ApFkcIBHrw+9vnXmrfYIq+WJCtPXXfU3IQYuvJl6pA5wV48ukUoXgPY+UK/SHL4DHGTGskwLPF2z44x+cn/YuiqhXgZtxSrZ9p4JqmDcT37oVjGSKVZ5DafAfrKDK8P3X8823bd7AlOcaB9QOUq9UWztQYY4wxZvnUsi7AU8iXQWtsXLeuKeMWS8NttTwLYN9QkvMHek4sJJwagsRW8vk80IFLtDJpyr3rUWCTZfAYY+o0EuAJe9sjM/ZP9bee61+ox73tOQ1c07SBrudciS8WY9ODG6gFc/RsvZ+D9x87/vnWrVvZnBynFIrw/f22TMsYY8yqYl1ATdPUsm6JVrGo+Ko5QsFmddEaIRxqnwLLxUqVx4bTnLe158QPUoOQ2EahUCAQCBBs0n+/taKQSlHo6QNgo2XwGGPqNBLgmfS2M0PlUwVVzpzjvPXe1vpgdyhfOEz385+PfvYhatU4xW23c/T+keOfTxVaBvjiY4/PNYwxxhjTCv8jItW5XsDnvONkvuO8V6WV34hpvZq3RKtQ9uMj07Rxi8X2yuB57GiGclW5YGBGgCd5GHoGyOfzHZe9Uy4WqJRL5LoSgGXwGGNO1EiA5zFvu3PG/gdwS7BeOMd5N3hb64HdweI33EBtfJJ49RKy6x8glj1GZsKtP9+4cSPxSpHezCR3ZQstnqkxxhhzEpnnBS7LRxc4rv5406FquTL4hZJGEck1ZUzVGqXSMUJt1CJ939BUgeXE9M5SFgqTkBigUCh0ZP0dgEzU1X/vD1uAxxgzrZEAzw9wNyaXztj/RW97toi8u/4DEXkL8GLcTc8PGrimaRPdVz0XiUTY/EAf+Goktt/JwX0u+SsQCLBx4yYGJkd4tHcLv/PQAT43PMHhQqnFszbGGNPhFhOUseCNWbRatoIvFqTq70aCzXmoVS6Po1ppqwyefYNJ4pEA29fFpnd6LdLp2UY+n+/AAE8agHTYfd+2RMsYU6+RnwhfBX4TuFZEwqpa9PZ/HHgXsAn4AxF5E7AfOB3orzv//acwX7PG+WIxuq+6ivznf4hesI3KttvZf89LOe+qAQAGBgY47+FHyKrwyZryseFJADZqhcu6Ijx3Sz9XrEtwdlcEn9g9tDHGmOWlqo08DDNmXtVsGV/ERzmUIBA52pQxi16L9HaqwbNvKMV5WxMzCiy7FukkBsjn76enp2f2k9vUVAZPMhimV32EffYjyhgzrZEAzzeAb+Nq8FwJfAtAVdMi8rPA/wJRXKBnIyc+yXqPqn71lGZs1rz43r2kv/Y11vMSxhOfgbGHqJYvxR/0sXXrVtbdfTcfuO/POFzZwIOxM3kksYOD/dv49uadfDFXgSePEKtWuMBf5Yp1PTx/+1Yu7um2f+CMMcYYsybUcmXUX6PqDxPpbs6YxeIwQNtk8JSrNR4+kuK1z95x4gepIbdNbKVQuJPNm5vTYn6tKHgBnklfgP6Q3fsaY0605ACPqlaBF8zx2bdEZA/wTuBaXJAnB/wQ+EdV/d9TmKtpE90veD4SDNL/QJTxi/30nHYHQ0/8BKeds46tW7cC8NTmqzi9cB9XVL5Ef2GS1FNhjjwU5x7/mfyg72Ie6dvN45u28wPC/N34UwSqVXaXc1waC3LVlo28YOdp9FrROWOMMcasQrVsmRJuaVaoN7zA0YtTLHkZPG1Sg+fJYxlKlRoXbJtZYNlbouW1Se+0IstTGTzj6rMCy8aYkzR90aaqPgH8fLPHNe3D391N15VXUvjSd/CdfR7VgTt46K4nOO2cy+nv78fv99Oz58Vcuvf9TGRLfPfJAww9dg+5wX2Exx/jlflbOaPwH/gPlXm0tpXbui/inr7zeWzDGXwyOMB/Dqbg8D62Zic5Xyo8uy/O83Zs46zNmwkGbJ2yMcYYY1qrlitTCOSBENGNzUnhmVqiFQq1R8PaBw67Assnt0g/DF0bqUqAUqnUgTV4XIBntKpc2m0BHmPMiey3XdMS8b17yXz722wK/BhHwvdTGL4NuJxAIMCmTZsYGnLpt31dIa668Cy48CzgVdRqypPHMnzr0ASPPnWA1KEHiE4+zouOfo+3DH+ahGb4UeRM7khcyAPrnsGt/afz1VIYHh9FHh2hu5Clp1xgnVbp9/vYFAqwJRZhWyLOjr4+dvWvY2M0it/q+xhjjDFmGWhNqeUqFMIuwBPfsq4p4xaLRwkG1+HzhZoyXqs9OJQiFvKza0PXiR8kB6HHddACOjDAkybU1cVIqWwFlo0xJ1nyTwUReZf39pOq+ti8B5943m7gZwFU9U+Wel3TXuLXXsORPwqw7qEaw+fHSWz+AZPDOXo3xdi6dSv33nsvX/7yl9m1axc7duw4nn7r8wlnbopz5qY4PHM7cDXpQpn7nk5y16EJ7nl6kgMHD7Dp6H6eP/x9zn7sv6ArxJORTYwEexkJrWM0so5jkV6eCHeTC3dDFZiowsQoPDWK1GrES3n6qmXWU6M/4GdLNMTWrhin9STYuX4dA10x+oIBgj4LBBljjDFm8bRQAYV8oQD0sH77lqaMWyqOtM3yLHAdtM7dksA/814rNQjrzyCfzwN05BItX9968jVloy3RMsbM0EjY949x7c7vBRYd4AHOqDvXAjwdzt/bS9fll5P92tcJbr+M4ubbuPuHd3Htj1/NpZdeytjYGD/84Q+54447EBG2bNnCrl272LVrF9u3bycUmn46FY8Eee6ZG3jumS4lWfUyDozluOfQBPccmuSepyd4+EiaWC3LdhnhLHmMHTLMWaFRtvjGqVFlUsIcDvQzFOznaHgDx8LrGIuu53AkwSOxOLlaFNIK6SR4KcMA4UqZrlqVbmokfEJPwE9fKMi6aJgNsRjru2L0hYL0BPz0Bvz0BP3eewsOGWOMMZ2omi0DkC+UQGts3NicoEyxNNw2BZarNeWhIyleedlpJ3+YHITTn9+xGTyFTJryOvdnxjJ4jDEz2U8F0zLxvXs5+sd/zJbIazjg+xbJoS8CV7NlyxZe97rXUS6XOXz4MPv37+fAgQN8//vf5/bbb8fn87Ft2zZ27tzJrl272LZtG8Hg9BMMEWHXhi52beji5ZdsA1wnhqPJAkOTeYaSeYYmC9w9mXdfT+YZnkjTkx1hhwyzXUa4VB5il2+EXYFjbKoeI1f2cci/kYOBzQwGNzIU2cpEz06SgThphQw+JoNhjoYjFMJRiuEo5WAJmJzz+4+gJHxCb8BPbzhIXyhEPOACQImAn/jxrc/t80/vSwT8RHxyYttQY4wxxqx6tVwFgEKpir+aZX1Xs5ZojRDvPq8pY7Xa/tEsuVKV8wdm1N8ppKCUPl5gGTovwJNPpSjuOBPAiiwbY06ykgEev7etruA1zSoWv+5ajr773XQ/lSS0axuJ9XdRypcJRd0/VsFg8HjWDkCxWOTpp59m//797N+/n9tuu43vfOc7BAIBTjvtNHbt2sXOnTsZGBjA7/efcK2g38dp62Kcti4261xUlVShcjzgMziZ5+7JPF+YLDA0kSM/eZRI5mlOqw6zozTCTxW+zuWpR6lc/Q4CL3gHCpQLebKTE2STk+QmJ5icHOZYKsOxTIaxfJ6JYomJUoVkpUY+GDoeCCqEIxwJRzkQilCMxCiGIhSDQVTmb30ZFIj7/SSCXtDHXx8Y8pGoCxb1BgLua+/YnoCfbr8PnwWIjDHGmBVV8zJ4iiVBamkigVNfYlSrVSiVRgm1SQbPvkGXLX3+QOLED1JTHbQGOneJViZFPt4LQH/YntUbY060kj8Vdnjb1Ape06xigQ0biF16KdlvfJnQy6+gtOMz3HHXV7j6qh+f9fhwOMwZZ5zBGWecAUChUODgwYPHAz7f/OY3ARcY2rFjx/GAz5YtW/D55g+WiAg90SA90SDnbEnMeky5WmM4VWBossD3Hj3CodvfwU995y8ppY8S+on3EYrGCEVj9G0ZmPdaqkoxm3XBoMkJckm3zaePkT+aopBOk8ukSebyTJZKJMtlcr6AC/x4r1IoQiEcoRgKU4l2UYh2k4pEKYYjFAJh8oEgBZ9/3nkIEPf7vGVjgRMCQscDQ3UBobjfT8zvI+r3ua1vamuZRMYYY8xi1XIuwFOoBYBMU8YslUcBbZsaPPsGk4QDPs7on9FhbKpFes82Ckc7c4lWPp0i1+XuVS2Dxxgz06kEeHQxB4lIDLgEeJt3ziOncE3TZuJ79zL8F3/Blu5f4/HafzHy9P8Aswd4ZopEIpx99tmcffbZAGSz2RMCPl/72tcAFxjavn07iUSCrq4uYrHYrK/6uj6zCfp9bOuLsa0vxuW71vE/G2/ig//9e/zSPR+lkD5G5FX/BsGFnyKJCJHubiLd3azfNsva8hlUlUqx6J7YpNMU0mnymdSJ2/FhCukU+cz05/lcnmIo7IJC4QiFkAsAFY8Hh7yAUChCMdrF4UiMp8JRCqEw+WCYYmDxNw1RYTrw4wWCTggC+X3EfLMEh7z9U8fXHzN1XNTvs65mxhhj2kYt65Zo5Ykg/tGmjFnyWqSHQ22SwTOU5BlbEgT8Mx7QpQ67bWKA/P6ngM7K4CmXilSKRTLRbkLilvkbY0y9eQM8IvJHwLtm+wj4nwaf2t/SyEmmPcX3Xs/wX/wFkaNDdNXOp9ZzD9VqGb9/6U8kurq6OPfcczn33HMBSKfTx+v3PP300wwODpLP51GdPTYZCATmDQDFYrETPv+JPVu4vft9vOc/evm9J/6d/EdeSvQ1n4Ro76n8JzmJiBCMRAhGIiQ2LP7GTWs1ysUCpXyeUiFPuVCglM9RKuTdvuP785TyKUrJYUr5qa/z5AsFMtUqqaqSUcgilAMhysGg2waCx99XAkHKQbevEgiRCUdIhsJUguHj+8v+ACWfn5LPjy7xZ0fEJ8eDQicFiOq+/tmt69kTn30ZnjHGGLMaVHNlCAgFfze+cKkpYxaLwwBtUWS5VlMeHEzx4ou2nvxhchDEB/EtFAoPEQwGCQQ6Z5lSIZ0GIBWK0h8KWAa1MeYki/mJONdPjkZ+onwX+PsGzjNtKrh5M5E9F5K99X+JvOBKsv33c/s9H+Pqy37+lMeOx+NceOGFXHjhhcf31Wo1CoUCuVyOXC5HNps9/n7ma3x8nFwuR7FYnPMakUiEYO9u3pV6K2cP7Sfyt79N4sIfI9a3cdYAUSQSWbF/jMXnO75srBlqtSrlQpFSIecCQV6AaCpQVMrVBY8KY5TGZzkmn6dYyJMvlSmI1AWH6oNGoRMCSJVAiGo4QjUcpRqOUAmFqYTCjE0dEwhS8geYDITYNz7JF6+4oCnfrzHGGLMcatkyEvZT84fxx5pTmrI4lcHTBku0np7IkS5WuGBmgWVwNXi6N4M/QD6f78jlWQDJQNBapBtjZrVQgOcA8O0Z+56HW2r1ELBQXmkNt7h4P/AN4P9Utbb0aZp2lth7AyN/9Ves/4m3MVH+d44d/jw0IcAzG5/PdzzYsliVSmXOINDUa2wywSODfnqKKfJ3/Ygqs6fM1l9/5isajRKNRolEIidtg8Fgy5/S+Hx+wrEY4SX8t5tPpVymXCxQnsou8rblYoFS4eT9pUKBcm6S8njdsYU8pWKBcqHAradfyLeftZfHsgXO6uqcdG1jjDFrSy1bBr/LJg7E568RuFjF0jDgIxhc35TxWumB4wWW5wjwJFxmTz6f76jlWTAd4Jn0BTjdCiwbY2Yx708GVb0ZuLl+n4hMBWh+X1U/v1wTM50jfsNeRv7qrwhnDhE/+iwqW79LsZQkHJrlH/YWCAQCJBIJEonZiy9POZYu8ucf/jh/MPlHhENhKi//CLnE6fNmC42MjBx/Px+/308kEpk1+DPXtq+vj3A43Mz/FE0VCAYJBINEu+NNGW/HZz/JbdUqH33qMH9xwRlNGdMYY1YTcZH+VwKvAS4C+oFx3EO3TwAfVdVKk661HXghcDWwB9gORIAk8CjwTeDDqnqoGdfrJLVchQruf1NofXMCFMXiCKHQBny+tf9L/77BFEG/cOam7pM/TA7CJrcUv1AodFwGTyHjlmiN1YQrLIPHGDOLRv4V+A4ug6c5VeGWSET8wDnAZcCl3nYPMPUT/t2q+sdLHPNG4A3As4FNuE5fjwOfBT6kqtkljHUF8EZcptMWoIDLYPpv4J9VtSX/3Vaz0LZthM89h9x3v0DXRdeTPO1b3PHwTTxvzztaPbUl6Y+H+bNfeS1/9G+9vOXI29nymVfQ++r/QM68bsFzp5aOFQoF8vn8Se9nbrPZLGNjY8e/nk1PTw+/8Ru/cVLL+HZ15VXP54wvfJ3PyjP4o1qN8AKd04wxZi0RkT7cfck1Mz7a7L2uAd4sIi871aCLiPwP8GJmX46/wXs9B3i7iPyBqv71qVyv09RyZYqVIuAnumn+h0eLVSoOt0X9HYAHh5KctSlOeGYBYVWXwXPmXsBl8PT19bVghq2TT6Wo+nxM1JT+0NoP5hljmm/JPxlU9fnLMI+l+DTw8mYMJCJh4KPAT8/4qN97XQn8qoi8XFXvX2AsAf4GeCsn3hBFgT5cJ7FfE5GfUdVvNmP+7SSxdy/H/u7viV31VgLZzYwXvwhrLMAD0B0O8J43vpR3fyLBzz7+m5z98VciL7sJ355XzXteI0vHptRqNYrF4gkBoEOHDnHrrbeyf//+423l213vps28IHOMD/rO58vHkrxkU2fd9Blj2peIhHBNKq7ydj0NfAh4AtgG/Dzu4dclwJdE5ApVTZ3CJc9n+l7mh8C3gMdwD8C2AT+JC/CEgb8SkbCq/vkpXK+j1LJlCuUC0EViYENTxiyWRohEBpoyViupKvsGk+w9d/PJH+YnoJyDHvd95vN5tm6dpRBzG8unU+SiXSjWIt0YM7u1+Ih7ZjrCOC7bphE3Mx3cGQPeA/wM8BvAnd7+3cCXRWShftbvwbWCFyAL/APwc8AvA1/zjtkE3CIiFzU437YV3+uexkR0kN7Bq0mEBzl67BstnlVjQgEff/qz1/J/l3yYO6tn4/vvN1H57j8s2/V8Ph/RaJS+vj62bt3K6aefznOf+1wikQj33nvvsl13NXr5nvNIpCf4tyefbvVUjDGmmd7MdHDnR8AeVf0zVf2klz1zCfAV7/NzgT88xesVgA8Az1DVy1X1d1X1X1X1M6r6t6r6XOA3647/YxE56xSv2RG0ptTyFQrFMmiN9ac1J0BRLI60RYv0oWSBiVyZ87fNUX8HIOECPJ24RCufSVHq7QewIsvGmFmdcoBHRHaLyG+LyGdE5Lsicp+3/bS3f3czJlrnTuAvgVcAp6vqeuAvGpj3S4CptIpDwCWq+k5V/YSq/iNwBfAR7/MtwPvmGeti4O3el0ngSlV9i6p+XFU/qKp7gXd7n3cDH5JWV8xdZcKnn07ojN0Ufvh/9By6Dk1v5oGH3k6lkm711Bri8wm/89LLeejaj/B/1csJfP0PKX7p96G2MjXGA4EAF1xwAY888sicS7ja0TOe9Vz2PHYfPyjWOJifu/uZMcasFSISAH7f+1KB16rqRP0xqloAXot7wATw6yJyKtV2r1LVX1PVR+c6QFX/Fvgv78sA8LOncL2OUctXQKFQqhCoZFjXfeoZPLVakXJ5vC06aD1w2CuwvHWWpWtJL8DTs41KpUK5XO68IsupFKX1XoDHiiwbY2bRcIBHRNaLyKdwhfb+H27Z1BW4tN4rcOm7/w94VEQ+eYo3Gsep6l+o6u+p6mdVdf8pDPXHde/fPHO9utft61dxwR+AnxKR8+cY611MpzK/c47lXO9mOivomcCLGpl0O0vs3Uvuh9/Hty5O/wO/iFSSPP7Ee1o9rVPyC89/BuWX/Ssfq+4l/IP3k//Mm6BaXpFr79mzh0qlwkMPPbQi11sNwrEYL+nyI7Ua/3H4WKunY4wxzXANbtk4wDdU9cHZDlLVEeCT3pdh4CWNXnBmAGken6l7f0Gj1+sktZy7ByiUFV81TV/k1JcTF4uuvGM7BHgeHEri9wnnbJklwHM8g2fr8YdXnZbBU8ikKfa6X6ksg8cYM5uGAjwisgO4B/gpbwyZ5+XDZdv8aBHLnFaEiJyJ6z4B8LiqfnG241Q1D/xL3a5XzjJWHNdlAtza9I/OMZYC/1i3a/6iLB0ovncv1GqEoyOsz5zB+FPPYWjoU4yP397qqZ2Sl16ynR0/9wH+vvZKog9/huzNr4TSout2N2xgYID169d33DKtq55zFbuefoz/PDxCpaatno4xxpyqvXXvv7zAsfWf37gMc5mpPs22s37TblAt6wI8+aoP1RTx0Kl3kiyVhgEItUGR5X2DSc7o7yYSnKVBRGoQfAHo3kQ+nwfovAyedIpCvBfAiiwbY2a15ACPiPiAz+OK7AlwBLfW+1m4YsJBb3u5t3/IO+404AurZGnSDXXvvzLnUc5CN0vPwz0pA/iOqs7X77r+Witx47WmhM8+m+CO7RTv/SI1vzDw6M+Rq/by8MPvoFLJtHp6p+Tqszfygjf9FX8qv0zk0LfIfuiFkB1b1muKCHv27OHQoUOMj48v67VWk9POv4BnHX6MMXx8fexUaowaY8yqUJ89fPcCx941x3nLpf4aB1fgemteLevaoxdqQVSy+OTUy2EWiyMAhENrP4Nn31CK8wbm6CyWHIT4FvD5jwd4Oi2DJ59Ok+lK0BfwW7dQY8ysGvnJ8BpcGq4C/4srwPfnqvpDVU2qatXb3uV1VHgG8AXv3AtwhYdbbSk3S/cCVe/9ubMEqBY9lqoeY/oGqF9E1v6jliYSERJ795L9/m3Ezu9lmz/Mw/fspVA8whNPvrfV0ztlF27r5TW/+i7+MPQO/MceIvvP18HkKXWyXdCePXsAuP/+eZvAtRWfz89Ldu+gK5vi5kNHWj0dY4w5VfXFiw8scOxhpu9ZzlzOh2pebaA31O36v+W6VjuZWqKVlygabE6NvGLRZfCs9TbpI6kCx9JFLhiYpcAyuAyeugLL0IkBnhTZSIx+W55ljJlDIwGen/S2+4FXqOq8VXBVNYNb2vSUt+ukZU4tsOibJVWtAN6iX7qAmT0ol3LjBSc+4bKOEzPE9+6FSgWp7ccvwoWDe0kFns3g4McZH/9eq6d3ynZu6OJtv/423tXzZ1RSw+RvuhaGZy2n0BQ9PT3s2rWL++67D7dKsDNc+LxrueDRH/HtZJ6hQqnV0zHGmFPRW/d+dL4DvXuWqdTFAO6+Zbn8Nu4hHsD9zBPgEZE3ichdInLXsWOdXR+t6i3RKkgQjTbn36diaQSRIMHgqdfzaaV9Q16B5bkCPMnDJ7RIh85aolUplykX8iSDETZZgWVjzBwaCfBcgsve+YiqLqpNjXfcv+GWal3cwDWbrbfu/bw3S576tTS9Mz5r5lgdL3L++QS2biH33S/hPy3OrrCf733vHKLRnTz8yO9RqSx/7Zrl1h8P865f/UXes/l9TBYqFD+0Fz2wfHWG9uzZw8TEBIcOLW+20Gqybus2rs1PUBPhE0c6Z3maMaYtdde9X0zKR77u/akXeJmFiLwA+FPvywrwy15zilmp6odU9TJVvay/v3+uwzpCLVcBv7g0q67mPHgpFocJh/qRJiz3aqUHDqcQYfYCy6qQGuroDJ5C2sVuk4GQFVg2xsypkX8Jpvo5PrbE8x73tk3ppnWKmnmztCw3Xp36tEtESFy/l+x3v0v3njhdPuGSoUsp9ryaQmGQJ5/6q1ZPsSm6wwH+5I2v5J9338TT5QTVm19K9ZGFamc25pxzziEYDHLfffcty/ir1dXPehY7Dj/Bx58eptZB2UvGGLOcROQZuO5ZUykE71TV77dwSmtKLVtGvf9y/t5ZCgk3oFQcIdQGHbT2DSXZtaGL7tmyU3JjUC1CzzagMzN48pk0CkyI3wosG2Pm1EiAZyqFoneJ500dP18RYuPp5KddfT/zarRWI3vbf0E0wJnBKN+8LcVp217H4cMfY2LiB62eYlOEAj7+6Odu4JZL/o2HqgOUPvMLLv24ycLhMOeeey4PPvgg5fLKtGhfDc6+4moueuwehqrKt8fnXUlqjDGrWX2XgcX8Nluf0tDUH34isgv4OtMP6/5OVdvjycsKqeXKVMUlOwU3NCf7pFgaWfP1dwAeHExy/tZ5lmcBJLYCLsATCoXw+5sTJFsL8qkUpVCYIsImy+AxxsyhkQDPAW/7oiWeN3X8gfkOWiHNvFlaNTde7SK0Ywc9P/7jTH7qE3Rd1MumoND/yHbCG15FNLKdhx95B9Vqe8QJfT7hl/9mBwAAYkJJREFUt156Bd+68L3UKmVSn3wT1ObMcm/Ynj17KBaLPProo00fe7WKdHdzw4YeYoUcHxtczOpJY4xZlSbr3m+Y6yA4Xvh4an1LmemHcqdMRE4Dvsl0LcJ/VtW3NWv8TlHLlilX3cOW2JY5ghlLVCwOr/kAz1imyFCyMH+BZThhiVYnLc8CKGRSZKMu+X+jZfAYY+Ywb4BHRF7rvbbV7f4qrpbOi0XkJ+c4deY4Lwdegqvds1Bb8pUwWfd+3pslT/2ysskZnzVzLOPZ8OZfRkslig99BUS4QDfw37d+h3PO+Uvy+UM8+eTftHqKTfXGF1/D+4M/T+LI7VTv/FDTx9+5cyeJRIJ777236WOvZhdffQ3nPvIjvjKW5Fipc7KXjDFtpX5J/M4Fjt0GTKU0PKFNqq4vIltxwZ2p6/8b8CvNGLvT1HIVitUyaI34ts2nPF61mqdSSa35FukPDrn6MvO2SIcTlmh10vIscB20Ml0uwLMpbBk8xpjZLZTB81HgI7jCylM+wHQdmU+IyF+IyKyBDRFZLyJ/CnzC21Xwzm+1Rd8seU/Dpp5WZZnuqLXksTw75jjX1Ant3EnPT/w4k5+6mfAZcbaHheSdQixxEdu2vYanD9/M5ORdrZ5m08RCAS552Vv5VnUPta/+EYw+vvBJS+Dz+dizZw9PPvkk6XTnJI7tuPBinjX0OFWET1mxZWPM2rSv7v2lCxx72RznNUxENuOCO2d4u/4DeGOzgkedppotUyhXCJYz9K0/9QBPsTgCrP0W6Q8Mug5a5821RCt1GPwhiLlfOfL5fMdl8OTTabJRV/rT2qQbY+ay5CVaqnoY+E1cFo8f+F1gUETuFJH/EJEPetsfAEPAO4EgLnvnbao6M0DSCku5WbqI6adhD81yQ7PosUSkn+kAzzFVHVng2h1t/S+7LJ7q0R8QFh8X507nC3d+jd2n/w6RyDYeevh3qVbzCw+0Rlz//9u77/C4rjLx49/3TlNvlmzJcu81co2dHuJUAqmbQkuAQCDA0sIu7UdZ2sLC0ndD25CEQAgJkISE9N5sx723uMuyZUuy+rR7z++Pe2WNbfU+mvfzPPPMufeee+4ZjWZ09N5TZhfzz4lfpdH2E3noo2DH+7T8srIyjDFs3LixT8sdyiyfj/PLyhhzeB/3lx9NqaXilVLDRmLP58s6yXt5QrrXM/d77ZbngenergeBD3a0YpZqn7ENJhwnHHPwxesoSO/9uiORqNuUTPZJljcfqmVcQQa56e0ELmrL3fl3LPdfl1QcotVcX0c4Nx+AUTpESynVjh6tp2iM+TVwB26PHMEN4CwE3gN8xHte5O0X3B4/dxhj+n7sSc/0ZWPpJaBlufjzRaSjvzaJ1+qfJZOGkdDEieS860pqH/41Vn6QCSFhwwsH8PszmTnjezQ372X37p8MdjX71GevO59vmY8QOrIW81rfvrbCwkJKS0tZt25dSgU6Zp9/EXO3vMXeSJw3jjd0foJSSg0tLwIty2leLCKz28okIiOBm73NMPBoby4qIgW4EyrP8nb9DXi/McbuTbmpzGmOgYGwbcDUkxfK63WZ0cgRAELB5O7Bs6m8jjntDc8COLoN8lo7wafqEK1wbgFBEXL9qTO5tFKqe3oU4IETQZ5ZwE+BfbiBnFMf+4AfA7OGUHAHY8xOYK23OVVErmgrn4ikAR9N2PWXNspqAP7pbeYAH2ynLAE+lbDrwe7VOjUVfvwOTCQCke0U+HxMqZjC2r0bKSg4m9LS97L/wN0cr1092NXsM6V56cy8+FYetc/GvPR9qOjbpc3LysqorKzk8OHDfVruUFY4bgLnOc2kxSL8UYdpKaWSjDEmDnzX2xTgPhHJT8zjtVfuBTK9Xb80xlS1VZ6I3CMixnt8s508ubhzLp7h7XoUuNmri+ohp8n98YVtPw515Kfld3JG51qHaCVvD57aphj7q5uY094Ey9W74cgmmHrpiV2p2IMnXF9Hc3YeRUE/7r8VSil1uh4HeACMMfuMMZ83xkwERuEOZzrPex5ljJlojPmCMWZfr2va9/4jIX2XiIxLPCgiFu58QS37HzbGtDee/du4Q9AA/lNEzmgjz9eBJV76LWPMEz2rdmoJTZpIzpVXUvfYXRi/MCUQ5OknVwIwZfIXSQuVsHXrl7Dt8CDXtO988JwJ/CH/U1SZHOy/3g6xvnttc+bMwefzsX593waOhrp5517IzO1rebyyhpqY/n+ilEo6dwGveukFwHoR+aqI3CQidwJraO1xvAX4Ti+v9yStw84PAX8CrhSRazp4XNp+cQrcFbQAmghiW40EfcFelxmJHsGyQvj9HfR+GeI2V7jz77S7RPqWx9znWVcBEIvFiMfjKdmDpzEjWydYVkp1qM8GcBpjjtLahbjfiMhE4LZTdicGVC7yJkZO9FdjzNrEHcaYR0XkQeAm3Hlx1ojIr4GNuCtd3QKc6WWvwJ13qE3GmLUi8l+48xHlAm+IyO+AlUAWcD3Q0vBpAG7vymtVrsI7Pk7d44/j8x+mNDSS9C1FVDVUMyKrgJkzv8/adbewZ8/PmDLli4Nd1T4R8Fl85V/O5gu/+ij3HvsBvPgduLS3bXVXRkYG06ZNY+PGjVxyySX4fKnRxXfGOecz74l/Z+2cpfz1SA0fGVM02FVSSqkuM8ZEReRq4GHgImAsbQdx1gDXGmNqe3nJsxLSo+lar+N9dG2xiZTVEuCJig872DdzCEYilYSCo5K6R8emExMstxOk2vIojJ4Pee491+Zm92eXaj14mhvqaQhlMEHn31FKdSAZvyHGA1/t4Ph53iPRLlqHZCW6Fbfnzc24QZ2vtJHnbeA6Y8yBTur1ZSAEfAa3i/Rn2shTCbzHGLOuk7JUgtCkSeRceSUNL/yejLO/xHQrh789+TwfveEGCgrOYfTom9i3/3cUFV1Gbu68wa5un1gwLp/Sxe/mj2tW8943folMuwImnNMnZZeVlbF161Z27drF9OnTOz9hGMjIyWXphHE8XVXB/RkhbistTOrGsFIq9RhjakTkYuBG4APAfKAQqAE2A38Gfq/DqIauliFaEQecjL55myKRIwSTfAWtTeV1jM5NY0RW6PSDx/fDoTVw8TdP7AqH3Z7NKRfgqaujNpjGSF1BSynVga4GeD4tItf00TWNMebUHjiDwhgTAd4jIvcCHwaWAiOBemAn8BDwG2NMYxfKMsDnROQvuD10zse96xUGdgOPAHcZY471w0sZ9grv+Dh1T7wb8dcxPi2TNSvj2Nfb+CwfU6d8maqqV9i67UssXvQoPl8bDYQk9MXLZnDlxlu5iM0UP/Jx5I43IJTd63KnTp1KRkYG69evT5kAD8DsC5Yx54mneGZECWvqmliYm9n5SUopNYR4bY0H6cU8fsaYD9LOfIEJeTQC3g/sJrcHT8zgztrYB6LRSrKyZvZNYYNk06FaZrc3/87Wf7jPM686saulB08qDdGy43GaI2HqfQEN8CilOtTVAM87+vi6PQ7wGGNewp1ksM8YY56ij1a1Msa8CbzZF2WpVqHJk8l55ztpXv13sstuZWpzMc+8+RpXnHMBfn82M2d8j3XrP8Sevb9gyuQvDHZ1+0RuRoA7372AT/3ldh5yvo08/RW46he9Ltfn8zF37lxWrVpFc3NzytwBmzh/EfPv/hUv23Hur6jSAI9SSqkB5TTGMBbYgJXfN53oI5FKRoy4sE/KGgwNkTh7jjVyzbzStjNseRRGzYURk0/sSsUePOGGeprS3XbLSB2ipZTqQFcnWW5rhayePpTqkcJP3EFs3wqQKOPTDOuebx01N2LE+ZSU3MD+/b+hrm7DINayb10zr5TQpLO5m6tgzX2w4+k+KbesrAzbttm0qb15w4cfn9/PvCVnM33XBh45UkN9XFf6VUopNXCcxhi2uGtyBEf2/iZDPN6AbTcm9RLpWyvqMIa2l0ivOwQHVsCsq0/anYpz8LRMsAzoJMtKqQ51NQT8C9yJ+5QaNKHJk8m5/FIiu16kZPKljDpczPY9u5k+cRIAU6d8heqqV9iy9YucufgRLCv5h2qJCN++Zg5X/fR6rsjaSOmjn4JPLIfMEb0qt6SkhKKiItavX8/ixYv7qLZD36wLljH3xz9kw/QF/P1IDbeUFg52lZRSSqUIpylO3NhgHNJKCnpd3nBYIn3jwQ5W0Nr6uPvcToAnlYZoNdfX0ZjuBniKtAePUqoDXf2GeN4Y81i/1kSpLij8xB3sueEWApMvZXzI4qnH32L6v7oBnkAghxkzvsv6DR9hz97/YfKkdhc+SyqTi7K47cIZ3PbCR/ln+tewnvgc3HAv9GKSYBFh3rx5PPvssxw7dozCwtQIdIycMIkz0vy8UF/D/RXpGuBRSik1YJymGFEnTjDaQPao0b0uLxI9ApDUkyxvOlRLUXaIkTltBGu2PgZFM6Bo2km7W4ZopVKAJ1xfT0Om14NH5+BRSnWgq0O0lBoSQlOmkP2OpdhH1jM+ZCHbcqirbzhxvLDwHZQUX8e+fb+irn74DD/6xIWTaS6Ywe/8N7vj0Tc+3Osy586di4iwYcPwGdLWGRFh9gXLmLX+dTbUN7Oxvmmwq6SUUipFOI0xwnEHf7yevNzeB2WiLT14gsnbg2dzeR1z2loevaES9r1+Wu8dcHvwhEIhLCt1/o1xe/BkAdqDRynVsdT5ZlTDRuEddxDd9QJp+JhgpfHYE6+cdHzq1P9HIDCCrVu/iONEB6mWfSst4OPbV8/h+3WXcSj7DPjnnVBb3qsyc3JymDRpEuvXr8dxnD6q6dA389wLmb1rAwHjcP+hqsGujlJKqRRhN8aJ2A5i15Gflt/r8iIRtwdPKEl78DRHbXZW1jO3rRW0tj0Oxmk3wJNK8+9Ayxw8WeT7fQRTKLCllOo+/YZQSSc0dSoZCyfgNBxhbEacIytiOI45cTwQyGXGjO/Q0LCNvXvvGsSa9q3zpxVxZdkYbqn+ME48Co9+Eozp/MQOzJs3j9raWvbt29dHtRz6MvPymTlrNjP3beNvR2potHWyZaWUUv3L2A4mHCdsWzjUkR/qgwBPtBKfLxO/P6sPajjwth2uwzG0vUT6lsegYDKMnHXaoXA4nJIBnqbsPEbqBMtKqU5ogEclpcJP3EF09wsUSRrF0RxefnX1SceLCpdRPOpq9u77X+rrtw5SLfve1941kyOB0dyT9VHY/SK89btelTd9+nSCwSDr16/voxomB3eY1hvU2w6PV9YOdnWUUkoNc05THIBm/MSlvs968CRr7x2ATYfqAJhzaoCnqRr2vOL23mljvsHm5uaUmn8H3ABPc2aOLpGulOqUBnhUUkqbNo20qRmYeIQx6THWPr//tDzTpn2NQCCPLVv/HceJDUIt+97I7DT+/bLpfOvwEo6MPBee+RpUvd3j8oLBILNnz2bLli1Eo8NjOFtXTFq4hCl1xxgVaeSPFTpMSymlVP9ymtx2SMRYxPwNZAV63+smEqkkmMRLpG86WEt+RoDRuacEa7Y9AcZuc3gWpGYPnnBDPQ0Z2TrBslKqU10J8PR8qR6l+lHhJ24ndmA5E3xBso7m8fbOQycdDwTymTH92zQ0bGHfvl8PUi373nuXjKdsTB4frLoFxx+Cv38M7HiPyysrKyMajbJ16/Dp6dQZfyDAjHMuYNb6N1hZ28j2xvBgV0kppdQw5jS6f6ejBuKhMNKLlTBbuD14kneC5U2HaplTmnv6z2LrY5A3DkrK2jwvFXvwNNXV0RDK0AmWlVKd6izAM9F7PDsAdVGqW9KmTyNYHMEnPsaEbJ59fNVpeYqKLmXUyHexZ+8vqap6pY1Sko/PEr577Vy2N2Xx8KjPwMG34I2f9bi8cePGkZeXl4LDtC5i5pZV+I3hTzrZslJKqX7U0oMn6hjsrJ7flGlhjCEaTd4hWpG4zY4j9acPz2o+Dm+/2O7wLGNMSk6yXBMJE/P5tAePUqpTHQZ4jDH7vEfzQFVIqe4o/MT7iR/bweQgxHakU19z+q/q9OnfJDNzCus3fIRDhx4ahFr2vTmluXzw7Il8ccc0aiZeCS/+J1T0bLlzy7IoKytj9+7d1Namznw0xZOnMbYgn9lHD/DQkWoiKbSSmFJKqYFlN3oBHgMmp/e9d+LxWhwnmrRLpO880kDMNswZfUqAZ8dT4MRg1jVtnheLxXAcJ+UCPMfibhtFJ1lWSnVG5+BRSS1t+nT8WdVkWmmM8vl48vHlp+UJBPJZuOAB8vPPZuu2L/H27p9gern61FDw+UunMSo7nY9Xvw+TUeAO1YpHelRWWZnbDXrDhp4FiZKRiDD7wouZuvIFqmM2Tx5NneCWUkqpgXWiB48Bq7D3/6Qn+xLpm8rdv7lzSnNOPrDlMcgphdEL2jyvudm9kZdKQ7Qc26ZG3KFZOsmyUqozGuBRSW/ER9+FE65lYqiJirfCxKOnL3vt92dTdsZvGV1yI3v3/pItW7+A4yT3pMJZIT/fePcsVhyBpyd/FSq3wIvf7VFZBQUFjB07lvXr1w+L4FdXzTzvQiaW72GkHeV+HaallFKqnziNcRwxGGPjH5nd6/IikUoAgkk6B8/G8lqy0/yMK8ho3Rmph13PwcyrwGr7X5Rw2J0zL5V68IQb6mnMcH9nRuoQLaVUJzTAo5Je+uyZWFY5xf4ccuIhlr/S9mTBlhVgxozvMWni5zh8+BHWrf8wsVjdANe2b10+p5h3TC/i82tH0TjnA/D6z2Hfmz0qa968eRw7doxDhw51nnmYyC4oZPzcM5izdRWvHW9gb3PPekAppZRSHXGaYsSNIRCtJ2Nkca/Li0S9HjxJuorWpkN1zB6dc/IEyzueBjvS7upZkJo9eJrr62nMcFdd0x48SqnOaIBHDQv57z0HjMO4YCNrn9/Xbi8UEWHixE8xa+aPOH58FavX3Eg4nLwBDRHhW1fPwTGGrzTeDPnj3aFakfpulzVr1ix8Pl/qTbZ84cVMW/sqFvBH7cWjlFKqHziNMaKOTTBaT2bR6F6XF/V68CTjEK2Y7bC1oo65p06wvPUxyBoFY5e0e25LgCeVevA019fSkJFNEEOu3zfY1VFKDXEa4FHDQuaiOeAcYrI/DX9NOrs3Hekwf0nJtcwru5tI5DBvrbqe+vrNA1TTvje2IINPL5vKo1trWTX/e3B8Pzzz/7pdTnp6OjNmzGDjxo3E471f4SNZTFm8lBGOzdz6Y/z5cDUxJ3WGqCmllBoYdlOciGOw7HryMgt6XV4kUonfn4PPl3yBjrePNhCNOyevoBVthJ3Pwsx3tzs8C1JziFZzQz2N6VkU+qzTl5RXSqlTaIBHDRu5V8zG70+jJBDmxX923guloOBsFi74CyI+Vq95D8eqXur/SvaTj5w7iakjs/jMG+nEln4KVt8DO57pdjnz5s2jubmZnTt39n0lh6hAMMT0s85l6ornORqN81yVTraslFKqbzmNMSK2AVNHQagPAjzRI4SSdP6dTeXu8PjZiSto7XoOYk0dDs+CFB2iVVdHY0a2Ds9SSnWJBnjUsJF90RkYu44ZEiOyJ0DN4cZOz8nKmsbiRX8lI30CGzbcTnn5nwegpn0v6Lf4zjVzKD/ezE/tG2DkLHj4w7D8V2B3vTfOpEmTyMrKSr1hWhdczPi3NzMCh/sPVQ92dZRSSg0zTmOMsPFhU0deWl6vy4tEKpN2ifRN5bVkBH1MLMxs3bnlMcgYAePO7vDclh48oVCoP6s4pLiTLGcxKi11XrNSquc0wKOGDREhc0kxWRkF5FhxXvpn15b8DoVGsWDBnyjIP4dt27/K22//KClXkloyaQQ3LBzDr18v5+1L7oaxi+GpL8JvL4QDb3WpDJ/Px9y5c9mxYweNjZ0HyIaL0dNnUjBqFAv3b+XF6jrKw8m9wppSSqmhw9gOJmITMULE10BBWl8M0TqSlPPvgBvgmVWSg8/yhhvFwrDjKZjxLvB13EulubmZ9PR0rA6GcQ03zfVuD55R6RrgUUp1LnW+HVVKyHtXGcbEmGVqKV9dT7gx1qXz/P4szjjjt4wefRN7993Fli134jjJt6LSl985k+w0P196vgbnvX+FG+6Fxir4v4vhsU9DU+e9U8rKynAch02bNg1AjYcGEWH2+csY/+pTOMADFdqLRymlVN9wmtyetFEDYX8duaHcTs7omDEO0ejRpFwi3XYMWyrqTp5/Z/eLEG3odHgWuAGeVBqeBVBfV09zeiajdIl0pVQXaIBHDStWmp+0aVmMzBpB0PGz+sW3u36u5WfG9O8yedIXOHzkUdau+xCxWHLNx1KQGeTL75zJW3treGjNQZh9DXxqJZz1KVh7P/xiIay5Dxyn3TKKi4spLi5OuWFas86/iLz6GspiDTxQUYWdhL24lFJKDT2Od7MpagzR9DABq3f/qMdi1RgTT8oePHuONdIUtU8O8Gx5FNLyYOL5nZ4fDodTaoJlgMqIe8NxZEjn4FFKdU4DPGrYyX3nbMQXYJp9jPUv7sO22w9mnEpEmDDhDmbP+gm1tWtYtfpGmpvL+7G2fe9fFozhzAkFfPlvG/nMn9eytdrAZd+Fj78KRdPhsX+Fuy+DwxvbLaOsrIxDhw5RWVk5gDUfXDlFIxk7+wxmrnmN8kiMl6q7v9S8UkopdSr7RIAH4tl2r8uLtCyRnoRz8Gw+5N44m1Oa4+6IR2HbP2HGleDrPPCVij14jsbcHmDag0cp1RUa4FHDTrAkE3+Rn/Hp6ZjGALtWd7xkeluKi69i/rx7iEYrWbX6eurq2g+GDDWWJfz6Awv5yHmTeG7LEa742at86Pcreau5BD70JFxzF1Tvhl+fD09+CcJ1p5Uxd+5cRCTlevHMvmAZo9e/Sb4FfzxUNdjVUUopNQw4TV6AxzE4eb1f5joScds1ydiDZ+PBWkJ+iylFWe6OPa9ApLZLw7OgdQ6eVHLMiwkWaYBHKdUFGuBRw1LOsskE0vModWp5459belRGfv5SFi78C5YVZM3a93Ls2It9XMv+k58Z5CvvnMkbX1rGnZdMY/3BWm741Zv8y6/e5PnQMsynVsHCD8GKX8EvF8PGhyFhSFJWVhZTpkxhw4YNOB0M5xpupi45m7RAgKXHDvBMVS2Vka7N4aSUUkq158QcPI6NFPa+90ljkzv8PBhMvgDPpkO1zCjJwe/z/gXZ8giEcmDShV06PxWHaFV7/66N0mXSlVJdoAEeNSylzylE0oTpEqbpsHB4d8/m0snKnMqihQ+TkTGR9Rtu52D5n/q4pv0rNyPAvy6byutfvIj/uGo2FbVhbrt3FZf/eiOPlN5J/LbnILsY/nob3Hc1HNt54tx58+ZRX1/Pnj17BvEVDKxgWjrTlp7DuJefIG7g9+XHiDs6F49SSqmea5mDh0g9gcLCXpXV1LSPPXt+QW7uItLSRvdB7QaO4xg2l9cxt2V4lh2HbU/AtMvB3/kKUcaYlBui5Tg2x72ha4Ua4FFKdYEGeNSwJH6LrLPGkJVXSpbTzJtP9KwXD7hdoBfMf4ARI85n+/avsevtH2JMcvVqSQ/6uPXsCbz0bxfy4xvLcIzhsw+u48I/1XH/3LuJXfZDOLQO/vcseP5bEG1i2rRppKWlsW7dusGu/oCafcEyco4cZIHE+Mm+I0x9dQNXrdnJ13eW8/cjNextjmB0AmallFJd5DTGsDH4o3WkF/V83hzHibJ582cRsZg968eI9H6410A6UNNEfSTOnNHeBMv7XoPm6i4Pz4pGoxhjUqoHT7ihgcaMLHKMTTCFloZXSvWchoLVsJW5pIT6F/czO36UFZtDvPiHrRSOzaZwTBYjxmQRTOv6r7/fn8kZc3/Njh3fZN++XxFuPsikSZ8lFCrB50ueO0kBn8V1C8ZwzbxSnt9Wyf++tIv/99g2fpI5kU+e+RDvr/8/gq/+N2x4iMA7/4vZs2ezfv16IpEIoVDnd9eGgzEz55BTNJL3LP8nH/nQp1lX18TauibuO3SM3xx0Azv5fh/zcjKYl53BfO95ZEjHxiullDqZ0xQj8vZxIo5DIFZPdkFJj8vavfun1NVvYM6cX5KeXtqHtRwYm8rdOf9OrKC15VEIZMKUZV06v7m5GSClevCEG+ppyMhmRHLF8pRSg0gDPGrY8ueFSJtdSKHdTP6BLWx/M86W14MnjucUplE0NpvCsVkUjnGfM/NC7d4Rsyw/06d/m7T0sbz99n9xpPJxAAKBAtJCJYTSStp+Do3C6uWSqH3NsoRLZo3i4pkjWbmnmv996W2+9eJRfhy6ni/NuoCbK3+G/4GbmTfuOlbHx7Nlyxbmz58/2NUeEGJZzDr/Ipb/7UFu99tcN9VtRMccw/bGZtbWN50I+vy85gi215mnNBQ4KehTlp1Btt83iK9EKaXUYLLrohz9v43EjzWztTmCOHXkpY/rUVlV1a+xb/+vGT36ZkaNvKKPazowNpbXEvAJU0dlgWPD1n/AtEsh0LUeOS0BnlTqwdNcV0djehZj/Np7RynVNRrgUcNa1tISwpurmFO/Fv+6u4gGc6nPGkND1hjqK8dQfnAMb69tnaTQb0XJyY5RWJxOyaRCRs4opmByEX7vH3URYcL4jzGi4DwaGrYTjhwiEq4gHKkg3HyA48dXEo+fuiqVEAwWkZZWQihUQlobgaBQsAiRgQ8GiAhLJo1gyaQRbD5Uy69e3s3X18X5nvU1fjTuDS47dA8F3MT6lx9n/txZXRojPxzMPn8Zy//6Z9Y98wSLr7qeUEYmAUuYk53BnOwMPuBNe9Bo22yqb2ZdvRvwWVffxBNH3fmeBJiSEWJeTgbzszOYl5PBrMx00nzaSFNKqeEuXtXM0f/bhNMQZcQHZ1P+o1XkUE9+Wn63y4pGj7FlyxfIyJjCtKn/rx9qOzA2H6pl2qhsQn4f7H0dGo92eXgWuBMsQ4oFeBrqacrI1iXSlVJdpgEeNayFpuThL0qn6IpPUfeuT9G4fwf15btpOnSA+JHXyaisIrsiSiA8Aj+lxENjqM8aw67q0ezYXg1PViNOjPTIEdKpIjO9kbwRFqPG5pE7qogR+bMJ5J2DlZODrzQHX04OthUjEqkgHK4gEjlMOFJxIgjU2LiL6upXse3Gk+op4icQyMPvz8bvy8bvz3HTpz1O3e9u+3xZWFbvPs6zR+fyi/fM585LpvGbV3fz2VV+ipyZ/Gv2q2w7nkfNz84jv2QS5JZCTinkjvGeSyF7NPiDnV8kSeQVlzBm5hxWPvIQKx95iGB6OjmFI8kuLCKnsIjswpHecxEzC0eyePQIrLFuoLA6Fmd9XdOJnj4vVdfz0OGaE2Xn+C0KAv6Eh4+CgJ8R3uPEvqCbzvP7sJJsngWllEplscONHP2/TWA7FH30DJyCNIz4iFv15Ie6F+AxxrBl6xeJx2uZN+8efL7kDG4YY9hUXstls4vdHVseBX8aTLmky2Wk4hCtpvpaGjLyGZWeGjfYlFK9pwEeNayJCJlLSqh9fDdZ/2eRHZqIFZqCpPmxpviQ2T6sND8ELcK+CPVOHfWNldTX7qOxuo7wcZtYY4h4MIcmJnOcLPZXAVXgjzcRiB4mGNtJINZAINpAMFaPz24EqwnxRyAYRYJxrCyQ7HQkexySM5tAfgb+XAtfDliZNlYogviiIFEwYWy7gXDkMHa8nrhdj203dfpafb7Mk4M/viwsXwZ+XwY+XyY+Xzq+k9KZ3nb6SftG52Tw7aum8pmLpnD3G3v58fJc3ilreappDhfsW0t+/DXS7fqTrm0QYumFxLNGQ/ZoJG8Mgfwx+PPHQs4YNwiUVQy+5PnKeddnv0j5ts3UHTtK3bFK6o8dpe7oUSp27SBcf3IvLbEssgpGkJMQ+FlWOJJrC4vIGltIY24BmyIOO5rCVMfiVMdsqqNxjkRibG1opioWJ9zOal0WkBfwJQR/3ADQiICfvICfDJ9FumWR7rNIs4QMn0Vawna6ZZHm5UmzJOkm5VRKqWQS2V/Hsd9vRgIWRR87g8CoTKor3Js6YV9dt3vwHDh4D1VVLzFt2jfJzprRH1UeEIdqw9Q0xZhdmguOA1sfgykXQyiry2WkYg+eqvpG7OyRjM7KGOyqKKWSRPL8t6VUD2UtKQbbYDfGMJE4TtjGRGyccBzneIRYpAkTjuNEbDJtQyYjKGaEe7IfyD25PCOGuBhsk4VtMrHNSOIO2EZOPBwgbgyOARuwDTjxKFSGsQ6FicWaiMcasWKN+KL1+KJxrGgzEm/G2E04ppk4YeJWHMfyY6dn42T5cLJ8mCwfZPkg00IyLCTdQtLBCgmxkEECESTQhPjKEcvGSAwkhiEKxLvxk7M4KyODcy5Op64hTixm8aLJJeIUEolbiGPwOw4hJ06aEyPdRMk0x8myD5N97DXSjsaxHIPlgOUYMEKTyaLJyiXsyyfiL8D2ZeH4MjD+TPBngj8bAllIMAcJ5uIL5eBLyyeQnkUgLZNgwE/I7yPktwgFLEI+H6GARdBnYVl9G7jIzMtn2tJz2zwWC4epO3aU+mOV1FW5gZ+WdPn2rTS8+SqObZ90TlpmFgX5BYwKhfCHQviDIfyBIIFQCH8wiJ2WTnMog8ZgOk2hNBoDIRoCQeqtAPXGT308Tm3cYleTcNwxHHcMsR4s5pVuiRf88YI+Pi8I5AWFQpaQZrnPIaub222dL0LAEgKiwSWl1PAW3llD1R+2YGUHKbptLv4Ct6dJc10UgKZgPQVpBV0ur75+M7t2/ReFhRczpvT9/VLngbKp3B2+PGd0DpSvgvoKmHVNt8pIxTl4KpqbIRtKMlLnNSulekcDPGrYk4CP7AvGdCmviTs44bgXALJPDghFWvc74Tgm5iQ87BNpJ2LjRFu3sR3EAKR7j+5xjMHxnm1jMMbgxBxMjYNTZYNjY5w4xomDE8fYMXDiYEfdZycGdgxx4hgnjLGawdcMVjPG14zxhzG+CE4gjBOIYgfj2CEbJ+g+7GAYKztALDedkMRJs6JYARvLsrEk8dkhZtnUWg51VghorztxrffY2/77ABgbnCaINUHEMYgDYkAcwAjGEYwRjGPhGAvH+HCMhWl54MNgYYwPIz5v2+89fBgJYMQPEgDxgxV001YQrCDiC5CTkcmU4kICwQwsfxoiAcTyY0kACfnIGuMne1wWYyUPkZmIFcASP8ZYhOubaDxeR2NNDQ3Vx2moqqHpeD2xaIx4JEa4vpZ4NEYsGiEejRKPRohHItjx1iBcpvcobudnFA2EiPkDxL2HHQzhhNKxQ2k4oTR3OxgiHgwRD4SwAwHigSBxf4CYL+A9+2n2+aiz/EQtH3HLIiYWUbGIiRBDiCKYPgjOBL1gT1CEoNWStgh6+wKWeGmLgCWEvMBQwBJC3r6gCD4R/AI+75j/1H3Ssg/8Xtrf1r6WcwGf5T1La3kteVvSvoQyfLSmNXCllGredIyqB7YRKEqn8MNz8eW0DlturHJ78DSmN5Hu71o7IB5vZNPmzxAMFjBr5veT/ntmc3ktPkuYWZIDLzwKviBMu6xbZTQ3NyMiBIPDZ0h4ZyrDMQBdqVMp1WUa4FEqgfgtfFlB6HqP4S4xttNmQMiJ2EQbYoTro8Sb4tiROE7Uxo7Y2FEHE3VwWvLGHUzcgbgB2/G6BRnENogxbm8ZOPHwiTvRrwXdn8Ml5j1apgo6AvXSTBNRwhKlWaI0EyUsMZqJ0CxuOuztM2KwLBsRxw0AWW4AKAikYQgBQRwk3gyxOiwTwycxLBPHZ8XxEXeDRsTdc7GxJI5Yjvcw7rPPID4H8dv4rDj4AMtgLMBnvB8E7vYpj7b2yanzH0dh9/7uvtttyALJgszxp+w3AIIYC/HeLfEqI1hIQiXd8INbcYPlBrlMo/csGAPGsTAOXlrctOP2hnfTBscGJ2pwbPdhbMdNxx3suINjOxgbL3gGGMFxBPddCRITPzEJEpcAMfF7zwHilvvcko5bfmJWEFv8xC0ftvixLR9xy49t+XH8AWwrgOPzY/v8hH1+Gi0/juUn7vPjWD4vv/tse8En27JwEBxx00NBy+fNDfq0BpACCQEqNxBlEfCCW/6WQJQXtPJbrYGpk4575ycGphKDWW0Frqw28ramW4NVLQGtxABW+/vd19eS1nmhlGrV+NZhav62k+DYbAo/OBsr4+R/xhuOHAcgmhPvcqBmx85v09S0lwXz7ycQ6P7EzEPNxvJaphRlkea3YMtjMPkiSMvpVhnhcJj09PSkD3Z1x9G42xtYJ1lWSnWVBniUGgDisxCfBW3MC5gGdK+J0zHHdohFHeJRGzvm/tMei9rY4ZbAkftwoo6bjrhBJCfmeA+v91HcwYkbjBdYMvE0cBwsBzJshwyDG2gyuMEmY8ABYxziToyoRIlJjJhEiVres8SIWlEaJcpxieHgYItDzDjYOBi88qD12enhD8K4gS9xK+WmjUGMgziOGxQz5kRaHAfLsbFwsIyNZQw+bHxi4zM2Phw30ITjBZ+c1rQ4iDiI2FjiXlMsJ2G/F5Dy0ojBslq6JBmwzMlpy8GI7aVJ2I/3bLyAlBvMsk7sB+PFgRAv7U9IexE/Y5lT9iVHY9kYwYmk0XRoLI0HSok1pWHbDjaGuDHEHUMcsI3BNu6ARBuIG8HG3WeL4FgWjuXDEQvHsjCWhSNu0MhNe/u9Z3d/+8eNd65brnUiOJWYti2LmOWj0efD9gJYji8hj8/n7vPy2l797ITrDSVijBc/NeSJ4daxI/nQ+BIKAtqsUKml/tWD1D6xh9DUPEZ8YBZW8PQVMRuPNSCOjcnv2j/ph4/8g4qKh5gw/hPk5y/t6yoPik2H6jh/ahEcWgu1++HCL3W7jObm5pSaYBngmNcGGhnU71alVNfot4VSw4zlswilW4TSB//j7fYYMdi2Gyyyvd4idtwhHrOxDzUS33gM8/Zxd56kEWnEJuYQHhkiatvEIjFisTixmPscj8WJx91tO24Tt91tOx4nFotTe6wJ8UHRuCxGTczGH7JwHAfHcbBt+0S6qw/btrFtm3A8Tl1zlIZwlLht48MQ9AlBCwTj5e/BhDjgBcj64odtELdvjxsPoiXA5QWyjPFiSAnBrZaHYyM4WE6cokMVTD74NqPGNZJ7+dkEzr0ZUzIPIw7GxDHGTnh0YRsH43YJ8gJ4NsYYDDYYB2NaAnsJz8bGYLy8Jx+vr99EVdorZE/ayYiC8xg9+mYKCy/Csrr2j5MxBuO9v8a2cRwbxz71EcexHe+5nf2OjRP3zo/H3d+XuJvfOLZ7De93zr2e7R2L4Ti216vPdss7URcH43i/p3ZrGcYY93xjiCNeAMtgI8RbAlckBLEQb+4v4wa0EOIGHME7R1rCqbjvPDjeOSf2ibvvxENICHjJScGtyhHF/BAfP9tXyXX5GXxmxiQmZuiKL2p4M8ZQ98w+6l88QPrcQgpumo74Tw/EhhtjVOxrIhCrxyrovCdOc/MBtm37f+TmzGfixE/3R9UHXGVdmKP1EeaU5sCWe8Dyw/Qrul1Oc3NzSs2/A1CDRcCxyfGfHjhUSqm2DP5/gEqpYUsscec2CbTT+6A0GxYX4zTFaFxTSeOKCnyrKsnI8JOxYBSZS8cTKOx6Y+74kSZWP72PHcsPs2crTF9azKLLxpM3su9Wn9h8qJaHVh3kkXXlHG+IUZqXzvULx3DDwjGU5qWdFEhqSfckuNTVR2O0kU1HN7Hl2BaaYk3kBfOYmT+TibkT8eHzggNeECEhfeq2MYZIJMLm3INsnXEGY/bvZ+pvdjD+3k9RMD+TzHfejMx7D4yY0mc/y55qbi6nouIhDlU8xMZNnyAYLKSk5AZKR99Ievq4Ds8VEcTnw/L5IKBd3rvDJPzOGOMGroxjqDq4jydefpmH7CAPTTmDB5dv4Ty/w51zp7Ikvy/7Jyo1NBjHcPyxt2lcXkHm4mLyrp2CtNETcv/mKl64bytNdYap+57i8LsKOyzXcWJs2vw5AGbP/mmXA9dD3aZDCRMs/+MxmHgBZHR9sukW4XCYjIzUWk2qxhcgz46l1LA0pVTvaIBHKTXorIwA2eeWknXOaCK7a2lcXkHDG4doeK2c0JQ8MpeUkD6rwB3m1oG8URksu2Umi6+cwLpn9rPl9Qq2vVHBlEWjWHj5eEaU9n5ypdmjc5l9VS5fumIGz209wl9WHeQXL+zk58/v5JwpI7hx0Vgum11Memjg7rZdzuXE7BjP7nuWP279I7879juyarO4duq1vGfGexibPbbLZVVVVbFy5UrWhULsHz+eguPHmbJ5O1Ne/wOFk/+H3HNm4Vv8Hph9XY8a6H0hPb2USZM+y4QJn6K6+hXKD/2Zfft+zb59d1GQfw6jS2+mqPBiLCt1JuIcCGJZ7og+38m/26OnzeSj02byvtrjvPLi89xdfoyVk+Zy9brdTI838+lp47lmXAk+/QdFDQPGdqh+aAfN646Sdf4Ycq+YcNo/37GIzRt/28Wml8vJL8nknNI9xF98lbSi93ZY9p49P6Oubi1zZv+M9PSuLQ6RDDaV1yECs30HoHo3nPOZHpXT3NxMQcHg/N0ZDMZxqAukkW96OlZdKZWKxJgeDitQA2bRokVm1apVg10NpQaUXRelcdVhGlcexj4ewcoOkrl4FJlnluDP69rwj8baCOueO8CmV8qJR2wmlhWy6J0TGDm+b3sVlB9v5q+rD/LQ6gMcqG4mJ83P1fNKuXHRWOaU5gz4nbcNRzdw/9b7eXbvs9jG5sKxF/L+me9ncfHiLtclEomwYcMGVixfzrGqKtLiMSZu38m0fbsoKT5K/vQooUWXQNl7YMol4B/cYEo4XEFFxcMcOvQXwpFDBAIFlJRcT+nom8jImDiodUs1jm2zadUKfrtxG88UTqA2t4CiaDMfHpnD7XNnkDlIQw1EZLUxZtGgXFydkMxtGidqU/2nbYS3VZNz+QRyLjw9eH54dy3P3bOF2qPNlC0by9KrJ1H54x9S+Yd7WXH/Z/jYvI+3WXZ19RusXXcLo0tuYObM/+zvlzKgPnrfKt4+2sAL81+DV/8bvrATMjvuzdSWH/zgB8yZM4crr7yyH2o59DQ31LP46TeYmpPN3y85e7Cro5QaYtpr12iAJwkkc2NIqd4yjiG8vZrG5RWEd9QAkDajgKylJYSm5rfZLf5U4YYY6188wMYXDxJpijNuVgELr5jA6Kl5fVpXxzEs31PFX946wJObDhOJO8wozuamxWO5Zl4p+ZkDGwQ50niEB7c/yMM7HqYmUsO0/Gm8b+b7eOfEd5Lm79pElcYY9uzZw4oVK9i+fTtiDKXl5UzdvoMJoSOMmFRD5qRMZO71brCndAEMYk8NY2yqq1+j/NCfOXbseYyxyc9byujRNzFy5GVYls4NM5AqD+zj7teX85BkUj5yDOmxCNcGbO5cXEZpVuaA1kUDPENDsrZpnHCcY/dsJrqvjrxrppC1pOSk43bcYdU/97L6yb1k5oe4+NZZlE7PJ1ZZyZ7bPsyho29Tee9/cOP0G08rOxqtZsXKK/H7szhz8aP4fMNrGNLZ//k8iycW8LNjH4PsUXDrP7pdhuM4fOtb3+K8885j2bJl/VDLoaemopwFa/dySYaP31w4PCbbVkr1HQ3wJLFkbQwp1dfi1WEaVx6mcdVhnIYYvoI0Ms8sJnPRKHd5+05Em+NsfPkg658/QHN9jJIpuSy6YgJjZxX0eS+b2uYY/1h/iL+sOsCGg7UEfRZLJ4+gKCtEdpqfnPQAOWl+ctIC5KT7yU4LkJMWOHEsO81PoJMhaV0Vjod5cs+T/GHrH9hZs5P8UD7/Mu1fuHnGzYzMGNnlcmpqanjrrbdYs3o14UiEvPp6pmzdxpS6I4wcX0nu+Dp8JZOh7GY44ybI63g+nP4WiVRSUfFXyg89SDh8gEAgn5Li6xg9+iYyMycPat1STaSpiYdffZW7jzWyuWQCPsfhvEgdXyibzqIxpQNSBw3wDA3J2KaxG6Icu3sTscNNFNw0nYyyopOOVx9q5Ll7tnB0fz0zzirm3BunEUr30/TWWxz8/Oex6+v57yti3PTxn3LJ+EtOOtcYw4YNt1NV/RqLF/2V7OxZA/nS+l1VQ4SF33mOH14Q5IYV/wLv/BGc+dFul9Pc3MwPfvADLr30Us4+OzV6s+zbvoUlh6J8NM3m22ctHOzqKKWGGA3wJLFkbAwp1Z9M3KF5cxWNKyqI7K4Fn5A+p5Css0cT6sLwq1jUZstrh1j37H4aaiKMHJ/NwismMPGMwi71COqurRV1PLTqIG+8fYz6cJy65hj1kXin56UHfCcFfE4NAOWkBbh63mjG5Hftbq8xhrcOv8X9W+/npQMv4RMfl0y4hPfPfD9nFJ3R5dcTjUbZuHEjK1es4EhlJUHbZtKOHUzZv4/SCQ4FxW8Tyo3D+HNh4a1wxul3rAeSMQ7VNW9w6NCDHD36DMbEyctdzOjSmxlZdDk+X2otuzuYjDG8vn49v9y+l9fzRxMLBJlVW8kdY0Zy/YIzsPpxOXgN8AwNydamiR8Pc+x3m7BrIxS8fybp01vngDGOYf0LB1j+yG4CaT7e8b4ZTJpfhDGG6rt/T+WPf0xw7FiOfe3DfGTXt7j7srtZXLz4pPIPHLiXHTu/xbSpX2Ps2A8O8Kvrf6/sOMotd6/klSUrGbf+Z3DnNsgu7nY5NTU1/OxnP+Pqq69m/vz5/VDToeeNt1ZyXUOQr+UH+OS82YNdHaXUENNeu0YnWVZKJR3xW2SUFZFRVkSssonGFRU0rj6CLzvYpQBPIOij7KKxzDmvlG3LK1jz9D6e/NVGCkZnsvCK8UxZOAqrDwM9M0ty+Pq7T74razuGhkic+nCMumbvOdyyHXMDQeGTn483RTlQ3USdd07Udlg8oaDLAR4R4cySMzmz5EwO1B/ggW0P8Pedf+fJPU9yRuEZvG/m+7hkwiUEOlm5JRgMsnDhQhYsWMC+fftYuXIlW/1+ts2YQWnFYaasyWBivsWI4wfJynoGGeQAj4jFiIJzGVFwLpHoMQ57vXq2bLmTHf7/YMGCB8jOmjGodUwVIsK58+Zx7rx57Dt8mJ+sXMs/gtn8az1897EXeH+G8LGzl5I9wMO3lGpL7GgTx363CScSp/C2OYQm5J44VlfVzAv3bqV8x3EmnFHIO94/g4ycIHZ9PRVf+Sr1zz5L9qWXUvK977Lj6KuwCwrSTp4guL5+Kzt3fZ8RI97BmDG3DvTLGxAtK2iVHnoWxp3Vo+AOuD14ANLSUicgf6ihCQhSot+HSqlu0ACPUiqpBUZmkPfuyeRcNgHi3VtpwhewmH1eKTPPLmHnqkpWP7WPZ/9vCysf28OCy8czdfEo/AGrXyZJ9llCbnqA3PQA5PesjHDMxt/DQNTY7LH8++J/55PzPsmjux7lT9v+xBdf/SI7anbw2YWf7VIZIsKECROYMGECtbW1rFq1itWrVvHy6BLWNjYyZes2Ztc7TL6hR1XsF6FgIePHf4xx4z5KzfEVHDn8GJkZOlxrMIwvLuanV13Bd8NhfrV8Fff5/PwokMevXlrDf5Vkcd3C1LhLr4amaHkDx+7eCCIU3X4GwdHuKozGGLa9eZhX/7IDDLzjAzOYeXYJIkJ4+3YOfvrTxA6WM/JLX6Tg1lsREaoPVAOQn9b6ZW/bTWza/BkCgTxmzfzBsF0Ge1N5LWfn1eA7uhku/36PywmHwwCkp6f3VdWGvCPNYUiHsTnZg10VpVQS0QCPUmpYsII+CPZsdR7LZzF9STHTFo9i9/qjrH5yHy/+YRsv/mEbCPj9Fr6AhT/gPvsCPvwnbbem3by+0475AxaW38LnEyyfhViC5Ut8WO6zlbBttXG85WEJQZ/0ekhZZiCT9858LzfPuJnXyl9jUu6kHpWTm5vLsmXLOP/889m8eTMrV6xgTWYmm30+Fj7zDGeeeSZ5eXm9qmtfErEoyD+LgvyzBrsqKS8zLY07LzyXzxvD3zZt466GahZMGD/Y1VIpLLzrOFV/2IKV7qfwtjkEitxekk11UV764zb2rD/G6Kl5LLt1JjmFbsCh9tFHqfjGN/FlZzP+3nvIWNTaa/545DiCkBts7QG0Y8e3aWrazfx59xIMjhjYFziANpXXcWfmWggDM9/d43JaevCkVIAnEoN0GJ2dNdhVUUolEQ3wKKWURyxh8vyRTJpXxIGt1VTurceOO8RjDnbMIR6zsVvScYd41H1EmuJeHvtEXjd/93oU9azS4GsJ/vglId0aTPL5WwNEPn/LsdPP8QWKsWelY2abHt9NDgQCzJs3j7KyMg4ePMiKFSt48803efPNN5k5cyZLly5l7Nixw/Zuteo5EeH6uTO5fu7Mwa6KSlGR/XXUv3CA8LZq/EXpFH5kLv5cd+W9PeuP8uL924g0xzn7uimUXTwWyxKcaJQj3/sex//8IBlnnknpf/8If1HrJMzGGA7WHyQ3lIvPcm9CHDnyBIcq/sL48XdQUHDOoLzWgVDbFGN/dRNnFb4OYxZD7pgel5WKQ7SOxW0ARoYGdgVOpVRy0wCPUkqdQkQYN2sE42b17q6qMQYnbojHWwNEjm0wjsGxEx9Oa9pJ2HbaOH4in3PS+XbcTdu2gxNv3W495uaPhm0cO37afjvuEIvYbHjhIAWjMylbNpbpZxbjC/Rs0lsRYezYsYwdO5ZLLrmElStXsnr1arZs2cLo0aM566yzmDVrFj5fz3pdKZWKxI2M3gh8AJgHFAHVwBbgAeAeY0znM7h375qZwMeA64GpQA5wBFgO3G2MebovrzcYIntqqXthP5Gdx7Ey/ORcMp6sc0ZjpfmJNsd57aGdbH2jgsKxWVz92fmMKHV7VEQPllP+2c8S3rSJER/9CEWf+Qzid5vWUTvKE7uf4L4t97Hr+C7OKz0PgObmg2zb/lVycuYxaeJnBu01D4TNFbWMkUpGNmyFs77dq7JScYjWMSNkRpoJ9MPiD0qp4UsDPEop1U9EBF9A3CBJErRJ7bjDrtWVrH12Py/+YRsrHt3N3HeMYc75paRldjzxckdyc3O55JJLuOCCC1i/fj3Lly/nr3/9K894Q7cWLlxIRkbXJopWKlWJSD7wMHDRKYeKvcdFwB0icq0xZn8fXXO+d81Tx26O8x43isgfgQ8bY6J9cc2BYowh8vZx6p4/QHRPLVZmgNwrJpC5tAQr5DaPD+2s4bl7ttJQHWbh5eNZ/K6J+Pxu0Lvh1Vc59IV/w9g2Y375C7IvvhiA4+HjPLj9QR7Y9gBV4Sqm5k/lO+d8hysmXoHjxNm85XMYY5gz+6dYnUxon+w2l9dxhbXS3Zh1Va/Kam5uxrIsAoHh/TNLVINFTiwy2NVQSiUZDfAopZQCwOf35iI6cxQHt9Ww7rn9rHh0N6uf3MvMs0dTtmwMuUU9D8QEg0EWL17MwoUL2bVrF8uXL+f555/n5ZdfpqysjKVLl1KUMLRBKeUSkSDwKHCet+sA8BtgFzAG+DAwE1gAPCkiZxlj6np5zfHAk8Aob9dK4H7gGDAXuB0YAbwPMLi9ioY8Ywzh7TXUv7Cf6P56rOwgue+aROaZxe5cbkA8ZrPi0d2se/4AOYXpXPuFhZRMdufPMbbNsf/5X47ddRehadMY8/OfERw/nr21e/nDlj/w2NuPEbbDnFN6DrfOupWlJUtPDEl9e/dPqK1dw+xZPyE9feyg/QwGysbyWm4ProLieZA/oVdlNTc3k56enlLDe4/7g+Q5scGuhlIqyWiARyml1ElEhLEzCxg7s4Cq8gbWPbefza+Ws+nlg0yaV8S8S8ZRPCm384LaYVkW06ZNY9q0aRw5coQVK1awbt06Vq9ezZQpU1i6dCmTJ09OqYa8Up24g9bgzhrgYmNMTctBEfkl8AhwGTAL+Brwb7285k9pDe7cDXzUGNMysdgDIvJr4BXcnjzvF5E/G2Oe6OU1+41xDOGtVdS9cIBYeQO+3BB5V08mc1ExErAIN8Y4uLGKA1uq2Le5msbjEWafX8rZ100mmOY2l+M1NRz6wr/R+Prr5F5zDaO+/jXW1G3mvud/xEsHXyJgBXj35HfzgZkfYEr+lJOuX1OznL17/4eS4uspLu5db5ZkceTgLuaYHTDr670uKxwOp9TwLIC6QBrjHO3Bo5TqHg3wKKWUateI0iyW3TqLpVdPZsNLB9n8Sjlvrz1KyeRc5l0yjglnFGL1Yn6AUaNGcdVVV7Fs2TJWrVrFW2+9xf33309RURFLliyhrKwspbrkK3UqEfEDX/U2DXBLYnAHwBgTFpFbgN1AJvCvIvJ9Y0xVD69ZBlzjbe4HPpkQ3Gm55j4RuQNoCep8MyE9ZBjH0LzpGPUv7Cd2uAlfQRr5100lVFZI5f4GNj+5l/1bqqncVwcGgul+xszIZ/Z5o0+ah615/XoOfvZz2FVVFP3H11mxKJt7n/8gW6u3kh/K5+NlH+em6TdRmF54Wh1isRo2b7mT9PTxTJv2jYF8+YOmIRJnVu3L7n8aM6/u9vmxWIyKigoOHDjAgQMH2L17N6NGjer8xGHCcRwa0jIoDGuARynVPRrgUUop1anMvBBnXTOZhZePZ+sbFax//gBP/mojuUXpzLt4LNPPKiHQw2XqATIzM7ngggs455xz2Lx5M2+++SaPP/44zz//PIsWLWLx4sXk5OT04StSKmlchDuZMsDzxpjNbWUyxlSKyJ+B24AQcDVuz5ueuCkh/RtjTLidfE/iDhObAiwSkUnGmN09vGafMrahaX0l9S8eIH60GX9ROqHLJnDYwJpVlZT/cTuxiI0IjJqYy+IrJzJuVgEjx2dj+VonlzfGUPPAAxz5z+/jKypkw7dv5jfR/+PIa0eYkDOBr5/1dd496d2k+d3VnWKxGuobttHQsI2Ghu00NGyjsXEHxjgsWvQwfn/mYP1IBtTWijout96iPm862YVTOs1fX19/Iphz4MABKioqsG13Fan8/HxmzJjBggUL+rvagyJi26w7dJhV5RVsqKljR8ywP5iBHUqnuBd/V5VSqUkDPEoppbosmOan7KKxzL2glN3rjrH2mX28/MAOVjy2hzkXlDL3wjFk5PR8SVe/309ZWRlnnHEG+/btY/ny5bz66qu8/vrrzJ49m6VLl1JaWtqHr0ipIe/ShPRTneR9CjfAA3A5PQ/wdOmaxhgjIk/jBnharvm/PbxmnzBxh6a1ldS9dAC7KoyTG+TI2Gy2ljdS/+BOAHIK05i2pJhxMwsonZ5HKKPtXoJOUxMV3/gmdf/4B0fKxvCtS2o5evxPnFl8Jl9b+hXm542mqXEHB/f+nIZGN6ATiRw+cX4gUEBW1gxKS99HUeHF5GTPGZCfwVDw9u63uVG20zTz9JGCtm1TWVl5UkDn+PHjAPh8PkaPHs2SJUtOrMSYlZU1wLXvPwdr61i+9wDrjlaxtSnCbvFzJCMHx/IBfnz+bEY1V1MWrmRmWoBPnHfWYFdZKZVkNMCjlFKq2yyfxZSFI5m8oIiKXbWse24/q57cy9pn9jN9aTHzLh5LfnHP71SLCBMmTGDChAlUV1ezcuVK1qxZw86dO7nzzjt12JZKJYlRgdWd5F3VznldJiIW7jw+AHFgfX9fsy+YmEP9WxXUvXAAGmI0+oTNjXEqjscIpIUZMz2fBZeNZ+ysgi5NFh/ZvYddn7wd2XuQv11qsfHsCm4onkZZ7gh8scM07vokb3kLh4kEyMycTH7+UrKyZpCVOYOsrBkEg4UpO5eYf8c/scSQNf96mpubOXjw4IlgzsGDB4nF3MmDs7KyGDdu3ImATnFxMX5/8v97EonFWXPgAKsOHWbj8QZ2xuFAKIOGNO/voi+HbKuOMeF6FsUamZ2dwaLiUcyfNIXMzOET0FJKDTwxxgx2HVQnFi1aZFatWtV5RqWUGkQ1hxtZ//wBti0/jB1zmDB3BPMuGUfptPw+KT8cDnPkyBHGjx/fJ+Wp1CIiq40xiwa7Ht0lIruBid7mRGPM3g7y+oEw4MMNzgRNNxt6IjIO2Odt7jPGTOgk/zuAF7zN540xF3eUv6/bNFvWr+GuTS8StNKxEGzjEHaixEwMIY5gI9jdLNUQJIovM4qVFcPvb51+yI77saPpxKPp2JE04tE07FgamNQM5LTHF6kh7gsRSSsiEmtdCSotGCQzFCQjLURGKETQ7wOGx88ubDvsCMfYbQU4kpmH43OHV/nsOKMajjPBjjAzPUDZiHzOHDeG8cXFKRsAVEr1XnvtmuQPkSullBoS8oszufB9M1hy1SQ2vlzOxpcOsu65A30W4ElLS9PgjkpFeQnpYx1lNMbERaQOyMdt42UCDf11PU/iRM55bWUQkdtxl1Vn3Lhx3axOx/bs3cFDo5f1aZkdCniP1JhKR3VHALJMA+PCDSxqOsrcnEwWjS5m/rhxpKeFBrt2SqkUoQEepZRSfSo9O8iZ75rIgkvHEW6MD3Z1lEp2ieM12pvsOFEzboAHIJvuB3h6cr0W2W1lMMb8BvgNuD14ulmfDr3j4iu577nn8BcIfdkZIitnHD6fTnDbU5ZYjBhZglhW55mHiZDfT5EuBqCUGmQa4OlD4vazvBH4ADAPd9WLamAL8ABwjzFG/9tRSqUEf9BHlq4AopTqRxmZ2Vx69bWDXQ2llFJqSNAATx8RkXzgYdzlTBMVe4+LgDtE5FpjzP6Brp9SSimlklIDrT1y0ui8R056Qrq+h9drkdaF/L29nlJKKaX6SOr0m+xHIhIEHqU1uHMA+BrwHuDfgK3e/gXAkyKi/TeVUkop1RXHE9KFHWX0JlluaWPEgMb+vJ5nRDvnKqWUUmqAaYCnb9wBnOel1wBlxpjvGGP+bIz5EW5g52nv+Czc4I9SSimlVGd2JKQndJJ3DO4KWgC7uruClucgrfPqlHpBo44kzny+o91cSimllOp3GuDpJa/h81Vv0wC3GGNqEvMYY8LALbTeSftXEUm846WUUkop1ZZNCemFneRNXC51U7u5OmCMcXDnDgR3KH9Zf19TKaWUUn1DAzy9dxHuZMoAzxtjNreVyRhTCfzZ2wwBVw9A3ZRSSimV3J5OSF/WSd7LE9JP9fc1vcUlEo/35ppKKaWU6iUN8PTepQnpzho2iccvbzeXUkoppZTrReCol75YRGa3lUlERgI3e5th3LkBe+ovCemPiUh7ky1fAUzx0quMMbt7cU2llFJK9ZIGeHpvTkJ6dSd5V7VznlJKKaXUaYwxceC73qYA93krd57gBWDuBTK9Xb80xlS1VZ6I3CMixnt8s51rrgce8TbHAb8UkZPajCIyDrgrYVebZSmllFJq4Ogy6b03LSG9t5O8BwEbdwLEqSIiPZwAUSmllFKp4y7getwFHRYA60Xk18Au3ImVbwNmenm3AN/pg2t+FjgLGOWVP0dE/gBUAXOBj9G6gtYfjTFP9ME1lVJKKdULGuDpvbyE9LGOMhpj4iJSB+Tj/uwzgYb+q5pSSimlkp0xJioiVwMP4879N5a2gzhrgGuNMbV9cM19InKFd81JwBLvcao/AR/u7fWUUkop1Xs6RKv3shLS4S7kb05IZ7eXSURuF5FVIrLq6NGj7WVTSimlVArwVui8GHeenSeAQ0AUOAK8ANwOLDHG7O/Da64FzgDuBN7EvZEVAQ4ADwFXGGPeZ4yJ9tU1lVJKKdVz2oNniDLG/Ab4DcCiRYt0GJdSSimV4rxh3Q96j56W8UHgg93I3wj82HsopZRSagjTHjy9lzjEqr1VJhKlJ6Tr+7guSimllFJKKaWUSkEa4Om94wnpwo4yiogfyPE2Y0BjP9VJKaWUUkoppZRSKUQDPL23IyE9oZO8Y3BX0ALYpStoKaWUUkoppZRSqi9ogKf3NiWkF3aSd1E75ymllFJKKaWUUkr1mGgnkt4RkUuAZ7zNZ40xl3aQ93fAbd7mbcaYu7t4jaPAvl5V9HSFdLKsuxpw+p4MPfqeDD36ngw9yfKejDfGFA12JVJdP7VpIHl+D1OJvidDj74nQ4++J0NPsrwnbbZrNMDTS968OoeAIsAAc40xm9vINxLYDWTiLqc+xhhTNZB1PaU+q4wxizrPqQaKvidDj74nQ4++J0OPvidqKNDfw6FH35OhR9+ToUffk6En2d8THaLVS8aYOPBdb1OA+0QkPzGPiKQB9+IGdwB+OZjBHaWUUkoppZRSSg0v/sGuwDBxF3A9cB6wAFgvIr8GduFOrHwbMNPLuwX4zmBUUimllFJKKaWUUsOTBnj6gDEmKiJXAw8DFwFjaTuIswa41hhTO5D1a8dvBrsC6jT6ngw9+p4MPfqeDD36nqihQH8Phx59T4YefU+GHn1Php6kfk90Dp4+JCIC3Ah8AJiPO0FTDbAZ+DPwe29Il1JKKaWUUkoppVSf0QCPUkoppZRSSimlVJLTSZaVUkoppZRSSimlkpwGeJRSSimllFJKKaWSnAZ4UoC4bhKRx0XkoIhERKRCRJ4XkY+IiE62PYBE5CURMV187B3s+iYzEfGJyBwR+aCI/EJE3hSRpoSf7zd7UOblIvKgiOwTkbCIVIrI6yLyORHJ7IeXMaz01XsiIvd043OkY5E7ICK5InKjiNwlIitEpEpEYiJSIyLrReR/RWRxN8vUz4nqN9quGVq0XTNwtF0z9Gi7ZuhJ9XaN/gEc5kQkn9bVvRIVe4+LgDtE5FpjzP6Brp9S/ewvwHV9UZCIhIB7gJtPOVTkPc4GPiki1xljNvTFNYepPntPVO+JyL8D3wJCbRzO8x5n4P6duB/4mDGmqYPy9HOi+pW2a1SK03bN0KPtmiFE2zUa4BnWRCQIPAqc5+06gLvs2y5gDPBhYCawAHhSRM4yxtQNRl1T2LWdHG/3C0d1ie+U7WqgCpjag7LuBW7y0lW4n6WNuKvlvR84E5gMPCUiS4wxB3pU4+GvL9+TFh8DKntxfiqbRmsjaDfwHLAOOAbkA8uA63Hft/cDI0XkCmOM0055+jlR/UbbNUlB2zX9S9s1Q4+2a4aWlG/XaIBneLuD1kbQGuBiY0xNy0ER+SXwCHAZMAv4GvBvA1zHlGaMeWSw6zDMrQS2AquB1caYPSLyQeD33SlERK6m9ct9P3Be4p1hEfkf4HfAh4AS4MfADb2u/fDUJ+/JKZ4xxuztg7qlIgM8AfzQGPNyG8d/IyLnAf8EsoBLgVtp4/3Sz4kaANquGeK0XdPvtF0z9Gi7ZmhJ+XaNLpM+THnjzw/hdh0zwFxjzOY28o3EjW5mAhGg1BhTNZB1TTUi8hJwAYAxRga3NqnnlD+6/2GM+WYXzlkLzPM2rzTG/LONPOnANmCct2uuMWZTb+ubCnr4ntyD+wcZYKI2hHpGRPIT/0HuIN+ngF94m68YYy5oI49+TlS/0XbN0KXtmsGl7ZqhR9s1g0fbNTrJ8nB2EW4jCOD5thpBAMaYSuDP3mYIuHoA6qZU0hCRqbR+ue9s68sdwBjTDPw2YdeN/Vw1pXqtK40gz0MJ6bmnHtTPiRoA2q5Rqg/o97UazrRdowGe4ezShPRTneRNPH55P9RFqWR2WUL66U7y6mdJDVf1Cen0No7r50T1N23XKNU39PtaqWHcrtEAz/A1JyG9upO8q9o5T/UzEXlC3KVdo94Sfuu8JRbnDXbd1And+SytA2wvPUtEtKv6wPitiOwXd6nk4yKyRUR+KyLnD3bFhpHEz8G+To7r50T1B23XJAFt1yQF/b4e+rRd0/+GbbtGAzzD17SE9N5O8h6k9Zdy6mD/UqaYd+Iu6xoACoAy4FPAWhG52xvXqQZXlz9Lxpg4UO5tZgKl/VQndbKLgbFAEMjFXUXnI8DLIvK4iBQMZuWGidsT0k+0cVw/J6q/absmOWi7ZujT7+uhT9s1/W/Ytmt0Fa3hKy8hfayjjMaYuIjU4S4d58f9xWzov6op3GX2nsaNCB8CBJgAvAs428vzIWCciFzufXGowZGXkO7ws+SponWitTzcfzRU/6gHnsVdweIA7j90Y3CHcrQM57gSt0F0ji6X3DMicjbu9xFAGPhJG9nyEtL6OVH9IS8hre2aoUfbNckjLyGt39dDi7ZrBsBwb9dogGf4ykpIh7uQvxm3IQSQjTaE+tOXgVXGmFgbx/5TRK4F7gcygGXAF4HvDmD91Ml68llqkd3HdVGtfgF80hjT2Max//aWwHwYGInbzfa/gY8OYP2GBREpBv5Ca4/frxlj2mq06OdE9Tdt1wxd2q5JLvp9PTRpu2YApEK7RodoKTXAjDFvttMIajn+d07+wv43EQn1f82USh7GmNXtNIJajr8KXIe7nDLAh0REu5Z3g4hkAo/S2tX4CdwGpVJKnaDtGqV6T9s1/S9V2jUa4Bm+Eu9UpXUhf+KY6Pp2c6kBYYz5E7Dd28wFzhnE6qQ6/SwlKWPM68Az3qaPk1dEUB0QkTTgMeBMb9frwE3GGNPOKfo5Uf1Nf8eSmLZrhhT9LCUpbdf0XCq1azTAM3wdT0gXdpRRRPxAjrcZA9qNHqsB9VJCesZgVUJ1/bPkGdHOuWpwvJSQ1s9RF4hIEPgbcJG3ayXwzo7uLKKfE9X/jiektV2TnF5KSOv38eA5npDW7+vk81JCWj9HXZBq7RoN8AxfOxLSEzrJOwY3Cgywq4NIphpYVQnpvMGqhOr6Z8n7p6Kl22cjrTPqq8Gjn6NuEJEA8BBwhbdrLXB5FyZy1M+J6m/arkl++n08NOj3dXLTz1E3pGK7RgM8w9emhPTCTvIuauc8NbiGTCQ4xXXnszSP1n8qtug/FUOCfo66yGugPABc5e3aCFxijKnpwun6OVH9Tds1yU+/j4cG/b5Obvo56qJUbddogGf4ejoh3dn4zMsT0k/1Q11Uz1yQkN7Rbi7V3/SzlNz0c9QFIuLDXeXmem/XFuBiY0xV+2edRD8nqr/p71jy0+/joUE/S8lNP0ddkMrtGg3wDF8vAke99MUiMrutTCIyErjZ2wzjziyuBpmIvIfWcbX1wGuDWJ2UZozZidudE2CqiFzRVj5v8rbEVUL+0t91Ux0TkXNo/aPscPIfa+UREQu4G7jJ27UdWGaMqexqGfo5UQNA2zVJTNs1Q4d+Xycvbdd0Taq3azTAM0wZY+LAd71NAe4TkfzEPN4v5L1Aprfrl92IaqoeEJFPi8iSTvJcA/wuYdd/G2PC/Vox1Zn/SEjfJSLjEg96f0j+B2jZ/7AxRocF9BMRuUVELhER6SDPubgT6rXkuc8Yc2BAKphEvJ/hr4FbvF27gIuMMYd7UJx+TlS/0XbN0KTtmqSl39dDiLZr+o62a0B0KOXw5c0Y/hxwnrfrAO4v/C7cCQhvA2Z6x7YAZxtjage6nqlERB4BrsaNJD8PbMadLE1wJ/B6N3B2wikv4k4EFh3Qig4TIjIR9/c80Rm4P2eAV4FXTjn+V2PM2lP2ISJ/pvVOQBXuZ2kj7ljoW2hddrECWKJ/dNvWF++JiPwU+Azud9rTuO/DUcDG/W671Hu0NII2A+caY4731esYLkTke8CXvc0Y8HngYBdOfcYY09RGefo5Uf1G2zVDj7ZrBpa2a4YebdcMLdqu0QDPsOfd3XqY1mXh2rIGuNYYs39gapW6EhpCnTHAb4HPtfVlo7pGRC7EbUx2x4eMMfe0UVYIuIfWrv9teRu4zhizoZvXTBl98Z4kNIS64u/AR/UufttE5CVOHs/fVRONMXvbKE8/J6pfabtmaNF2zcDSds3Qo+2aoUXbNeAf7Aqo/mWMqRGRi4EbgQ8A84FCoAY3+vtn4Pde12fV/+4EHgeWAmXASNz3w487E/4O3HHpvzfG6MRpQ4gxJgK8R0TuBT6M+x6OxJ1LYCfuEoy/McY0Dl4tU8YPgVXAWcACYBTu5ygNqAX2AG/gdl9eM1iVTEX6OVH9Tds1Q462a5KUfl8PKdquGaKS8XOiPXiUUkoppZRSSimlkpxOsqyUUkoppZRSSimV5DTAo5RSSimllFJKKZXkNMCjlFJKKaWUUkopleQ0wKOUUkoppZRSSimV5DTAo5RSSimllFJKKZXkNMCjlFJKKaWUUkopleQ0wKOUUkoppZRSSimV5DTAo5RSSimllFJKKZXkNMCjlFJKKaWUUkopleQ0wKOUUn1IRC4UEeM9vjnY9VFKKaWU6ilt1yiVXPyDXQGl1NAhIqYlbYyRNo5PAD7obb5kjHlpQCo2iEQkD/ist7nOGPPIoFVmiBORAuAYIMC/GGP+mnDsA8B9QBjIM8ZEBqeWSimlUoW2a06n7Zqu03aNSkYa4FFKdccE4BsJ2y8NTjUGVB6tr/le4JFBq8nQdz5uI8hw+u/GRd7zG9oIUkopNURMQNs1jwxaTYY+bdeopKMBHqWU6kPe3b/T7hKmiAu95w3GmKpTjr3De35x4KqjlFJKqd7Qdg2g7RqVRHQOHqWUUn3lQu/5pMaOiEwGxrd1TCmllFJqiLrQe9Z2jUoaGuBRSinVa9449TO8zRdOOdzSjbkRWDlglVJKKaWU6gFt16hkpQEepVSnWlZQ4OS7FN9IWFXhxKODMsaJyHdFZKWIHBWRqIgcFpFnReQOEQl2UoeWa7zkbeeLyJdF5C0ROeYdu6eNa35KRB4Ske0i0uBdt1JEXhKRL4pIbjvXm+C9nj0Ju29t6zV7kzSe9LPqymoTIpIhIp8TkRe9n0XEq9tr3mtrs24J538z4VoXevuWisgfRWRfQnmPi8jlHZXVB1rGqdvAK6cca2kIvWaMifVzPZRSSqkOabvmBG3XtE/bNSop6Rw8Sql+JyJfxp3QL3TKoVHe42LgcyLyLmPMji6UtwB3UsCxHeS5EPeOS1vjxouAC7zHnSJynTHmtU5fSB8SkaXAX4HRbdStCDjHq9t7jTHPdLHMrwLf4uTgfRFwJXCliHzLGPONNk/uXt1fwv3ZtcUHHBdpc7j+ZW00licaY/b2tk5KKaXUQNF2zem0XXOCtmvUoNIAj1KqKzYB1wJzgG97+x4E/tzZiSLyE1qX4zzunfMWUA+UANfgTlQ3FXhZROYbYw53UOQI4FFgDPBP4AncJSxLcVc5aJGG2wjajHuHbitQ5e0f6113IW5D4XERmXfKH+RK7zWPBH7t7XsR+HkbdarsoL6nEZH5uI20dG/XWuBPwH6gGLgRtyE0wqvbpV1YuvV24D1AOXAP7usOApcDN+H+LL4uIi8bY07taqyUUkqlEm3XuLRdo9QwowEepVSnjDHHgEdE5HjC7m3GmEc6Ok9Erqa1EfQccHMbqxD8XEQ+BvwKtxHwU+DmDoqdg9td9kZjzEMd5NsKnGGM2djO8e+IyHuA+4Fc3DtxH2o5aIxpwn3NExLO2d/Za+6MiFjAH2htBP0M+LwxxknI9nMR+RruXasAcJ+ITDPGhDso+j3As8C1xpjGhP33ishK4Mfe9hc4fSx5d/07UJCwXQD80Ut/Hbeh2+LdwCeAZuC6Nso60su6KKWUUt2i7ZoTtF3j0naNGjY0wKOU6k/f8p4PANec8gf6BGPMr0XkHOADwL+IyFhjzIEOyv15J40gjDH7OqucMeYBbwz3LcBNInL7AIylfhcw20svBz5njDltjL8x5tsisgS3G/JY4P3A7zootwq4qZ2f8c9wG6TjgItExG+Miff0BRhjTppQUETelbD528Q7lSJyg5dcZYx5qqfXVEoppYYAbdecTts1Sg0hOsmyUqpfiEgZrasP3NVeIyjB/d6zD1jWSd5f9KZup3jDe06ntb79KfFuzw/bagQl+H4757XlPmNMTVsHvLtoL3ubIWByp7XsnrO95z1tdEM/y3t+s4+vqZRSSg0Ybde0S9s1Sg0h2oNHKdVfzktIh0Tkmk7ylyakZ3aQr9wYs6eD4yfx7ha9H1gKTAKycbsHt2UMsLqrZffQmd6zwe163JE3gAYgC1jSSd7lnRwvT0jnd5K3u1oaQq8n7hSRPGCGt6kNIaWUUslM2zVt03aNUkOIBniUUv1lQkK6uyscdPSHuryDYyeIuzzp73C7R3dVTjfy9lSJ93zYGFPfUUZjjCMibwNlQIGIBI0x0XayH+vkupGEdFrXqto5EfEDi73NN045vJTW1T60IaSUUiqZTUhIa7umlbZrlBpCNMCjlOovub04N9jBseYulvE/tDaCIrgrU7yF25BqxJ3QEOAi4F+9tK971eyRbO+5s67dLRpOOffUyRxbOO3s7zMiMg5YcMrucUCGl84+5Y5mS/fr48BZpywxus0Ys60fqqmUUkr1B23XtE3bNS5t16ghQQM8Sqn+kvgH/CJjzIsDdWFvhYjbvM2DwAXGmN3t5C1ta38/qgfygMwu5s865dzBdBHw+w6O/6Cd/XnA30/Z9x/AN3tfJaWUUmpAaLumbdqucWm7Rg0JOsmyUqq/JHY5HjPA176I1i6032+vEeQZPwD1SVThPReLSFZHGcW9NdQycWBVB92YlVJKKdW/tF3TNm3XKDWEaIBHKdUdid1lpd1crpcT0pf2Q106Mioh/XYneS/r5Hh3XnNXtCzFKcDFneQ9m9Y7XSs7yjgQjDH3GGOk5YH7N6RljPxnTzn2joRTJyQe8x7fHOj6K6WUUqfQdk3vabtG2zVqCNEAj1KqOxK7J3fWFXcVsNlL3yQis/unSm1qSki3u3SmiFxN50uIduc1d8VfE9JfkFMGcJ/ii+2cN1TMBQq99Kld1VsaQruNMfsGrkpKKaVUl2m7pve0XaPUEKIBHqVUdyQu43nqpHQnMcYY4MveZgD4p4gs7uAURGSWiNzVuyoC7qSDLb4gIqetXuEtM3p3ZwUZY6qBWm9zXicNl654gtYG4jnAD0XktO9iEfkK8G5v8wDwx15etz+0NHaqgI3tHBuwOQqUUkqpbtJ2jbZrEmm7RiU9nWRZKdVlxpgaEVkLzAfeISK/Ap4nYZI8Y8xTCel/iMi3gK/jrkqwQkSeAZ7DnSTQACOA2cCFwCzcVSDu6GVV3wRWAwtxlzXd5tV1O5COO5b9Ji/vH4H3dVLeC8C1uHfNHhSRv+GuoNDiZWNMl1bB8JYIfT/u0pvpwJ24P8s/4v5MRgE3Aud6p8SAW4wx4a6UP8Au8p5f9hq+AIhIOrDE29SGkFJKqSFJ2zXarjmFtmtU0tMAj1Kqu74K/AN36c2PeY9EJ90JMsZ8Q0QOAP8N5OCODe9ofPjB3lbQGGNE5GbcBsxYYCRuYyxRGPgk7lj0zhpC3wIux2243OA9Ek0E9najfutEZBlu9+QS3LuGbd05rAbea4x5qatlDxTv7tz53uapjZ2zaV0S9oUBq5RSSinVfdqu0XaNtmvUsKFDtJRS3WKMeRK3C+6fcLs2d3qHxxjzO9xVHe4EngEOARHvcRh4BfghsAyY1Ef13IV7R+4/ga24DZ8G3LtdvwQWGmM67crslbUO967Z77zzmzo8oWtlvglMBT6PO3HjUdy7WlW4d+q+Ckw2xjzd22v1k/m4y4QCvHTKsZZuzNuNMRUopZRSQ5S2a7Rd49F2jRoWJKH3mVJKKaWUUkoppZRKQtqDRymllFJKKaWUUirJaYBHKaWUUkoppZRSKslpgEcppZRSSimllFIqyWmARymllFJKKaWUUirJaYBHKaWUUkoppZRSKslpgEcppZRSSimllFIqyWmARymllFJKKaWUUirJaYBHKaWUUkoppZRSKslpgEcppZRSSimllFIqyWmARymllFJKKaWUUirJaYBHKaWUUkoppZRSKsn9f89zK+a/+4lVAAAAAElFTkSuQmCC",
            "text/plain": [
              "<Figure size 1152x504 with 2 Axes>"
            ]
          },
          "metadata": {
            "needs_background": "light"
          },
          "output_type": "display_data"
        }
      ],
      "source": [
        "# Plot results\n",
        "import matplotlib\n",
        "import matplotlib.pyplot as plt\n",
        "matplotlib.rcParams['pdf.fonttype'] = 42\n",
        "matplotlib.rcParams['ps.fonttype'] = 42\n",
        "f1 = plt.figure()\n",
        "fig, ax = plt.subplots(nrows=1, ncols=2)\n",
        "fig.set_size_inches(16, 7)\n",
        "fig.tight_layout()\n",
        "c=0\n",
        "for col in ax:\n",
        "    if c==0:\n",
        "        for i in np.arange(len(uncertainties)):\n",
        "            col.plot(np.arange(np.size(uncertainties[i],0)),uncertainties[i])\n",
        "            col.set_title(\"Transition Uncertainty\")\n",
        "            col.set_xlabel(\"Iteration #\")\n",
        "            col.set_ylabel(\"Total Uncertainty\")\n",
        "    if c==1:\n",
        "        for i in np.arange(len(psats)):\n",
        "            col.plot(np.arange(np.size(psats[i],0)),psats[i])\n",
        "            col.set_title(\"Prob. Satisfaction\")\n",
        "            col.set_xlabel(\"Iteration #\")\n",
        "            col.set_ylabel(\"Probability\")\n",
        "    c=1\n",
        "fig.tight_layout()\n",
        "for col in ax:\n",
        "    for item in ([col.title, col.xaxis.label, col.yaxis.label] +\n",
        "                col.get_xticklabels() + col.get_yticklabels()):\n",
        "        item.set_fontsize(30)\n",
        "plt.tight_layout()\n",
        "fig.savefig(\"combined_metrics.pdf\", bbox_inches='tight')\n",
        "plt.show()\n",
        "# Plot error of unknown dynamics estimation\n",
        "#plt.plot(gw.errors)\n",
        "#plt.title(\"Error of Gaussian Process Estimation of Unknown Dynamics\")\n",
        "#plt.xlabel(\"Iteration #\")\n",
        "#plt.ylabel(\"Total Error\")\n",
        "#plt.figure()"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 10,
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 297
        },
        "id": "m67whaYy-5vv",
        "outputId": "9b1e146a-64ce-4a44-fd6b-7ee2f9fb61a0"
      },
      "outputs": [
        {
          "data": {
            "image/png": 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+rpQO4vEO4vEOTp7chpQ6Dz/8tzQ1XU0oNEgkcrI8SlQouKu6SKlU86znrxSbknBls5t46SWTO+/8L7LZH+NyRdi8+Ta6u99e92ICJWelqHhf2f0SCGE5ZCcnV83omglhlCcEmubSOWTnQwhBT895vOY1n+BHP/orHn/863g8Qa655je4+up3YftRTo+6FxSAQGAUXe/ikkv+lPb2q8hmR+nrK9DdbTA66iBb8zlqgokJBwMD5zMwcD5gzY4tWTCh0BAtLUcAy0kbj7eXLZhEonXOEQy3u5mLL/4Ura3byWZHcLma6eq6AVU9vSzt9YLH08pll/0+Upo4ncFy4Nxsozs+31j59XxducVKP6lpbq666tfZsuUG2tunMu17PAFe/vJ30dm5mXh8DKfTTV/fRQSDtQn5P5eoc0GxYhUCgREmJ7txOoP09b0FsEYSNO0BNK2wCIIyk0wmTCYTLo8kuVzJssAEg0P09VlBU9ZIUlvZgimNJJXQND99fW9e/AafJmdyE7tcIdaufX35fSTyElIKJidXzdi2lFAJ5rdQFiv9pKo66eu7EJjpMFZVF1u2XL04Jz6HqGtBMQwn6XQYv390xrpSpKvDkV/qZgGW03i2kaSSwKxa9RyrV8tifo+WsgUTi3WcRSzL4lGLmzgcPk4y2Y5hzIxCDgSGKs5VP10em9pS14IClpUSifTPWF6ap1NK7rPczD2SZHWRurpeoqfnBQBSqSYmJ7uIxbqIxTqXfBrAYqBpKXy+MY4fv3yWtVZBr2w2iNsdxzDq/mdnc4bU/TebSLTR3n6gPIRbolCwbsLS3JB6Y7aRpMsvvwOnM00+76GjYy/d3bsASCZbmJzsYnKyi3i8o+4mNS6EcPgEMHt0bKmgVyy2Crc7blsoK5iGEBQAv3+0SlDqzUKZDykdRKPdtLcf4MCBV5DPewgERgmFBohE+unq2kVPzwtIKYrRvFMCU2/xKLMRDh8nn/eTycxMlVjynySTrTQ3H2qI67E5M+r+m02lmjBNhUBghPHxvvJyq6C2UrcWymyUbiS/f5Tx8b7yUPWJE5egKDqBwAjhcD/h8ADd3S+watVOTFMpOnlLAtNed//wQhiEQicZG9s46/pAYIhczl/2HdXTsLFNbal7QZHSQTLZQjA4M6mwrrsaxkKBKUGZLo6ldZZPpYtjxywfjOXkHSAcHig6eXcUc4y0l30wiUTbsobjQymZkj7nZMBgcJBYrLs8odG2UFYuDfHNJpOttLfvw5oVOhUXYBjOhrJQSs7IQGDmqNV0TFMjGl1VjsB1OPKEQoOEwwOEQgP09j5TPmY83sHkZDeTk12kUs1LLjDh8LFiO7pmrHO7Y2hahkSis5ytzbZQVi4NISiJRBtdXS/h9UZJp6f66IVCY1oofv8Y08VxPgzDycTEGiYmrJSK1jD1lMD09T0JWIF2sVgnk5OdRCL6aZ/nTIhEjhOPd81qeVQW9IpEjgKzDxsvVjCbzdLSEIISj09FzFYKilVRrvEsFFXN4/HEquYFnS7WMHVfueukaemywITD/TQ1HeUNb5jkkku+QSLRSTzeRTzeRSYTqcWllPF4orhcCQYGts26vlTQK5sNl3PXziY8tpisDBpCULLZILruJBAYYXh4U3m5rrtwuxOn2LO+qLyRAoHRsxKU6RQKXsbG1jE2ZoWUO50Jnn76n9mwYTXB4ABNTUeK23nK4hKPd5HNhk512HmZSqY0MzoWLP9JImEleRLCsLs7K5yGEBQQJBJtBALVjlldbywLpVJQ/P5RRkY2LNq5cjk/hw+7OXz4OsDKdh8MDpQfzc2HACt3TElcYrHuGUmR5iMcPk4q1TzrfpqWwuVKMDRkzYcq1TW2Wbk0iKBYfpRVq54r18aFxhvlKXV5StbWUpLLBRkdDTI6as1Fcrsny+ISCp2gpeVAcbtAWVzi8a45y2gIAYqSIxAYmrO7Mz2hUuV3Z7MyaZhvN5FoLZapHCMet0xoXXeiKGbD/FBLbUylmggERhHCXLYh32w2TDYbZmRkKwAez0RZYCKRo7S27ituFyqLSzzeia5buUykpJhMSc45XBwIDBWz2Fl+L0Ux6i6Gxqa21P9dWKRy5vGUoExNEGwEQSlZKKlUE6HQEF7vBKnUzPSWy0Em00Qm08Tw8PmAxOsdLwtMS8uBcgnRdLqp3EVqaTlAoeAmmZyZTAmsEZ7Kgl6KotvzeFY4DfPtFgpesll/VQyHrlvh95qWm9M0rydKopdOWyMtgcBo3QhKNYJ0uoV0uoWhoQuLZTvGit2jAVpb99LRsau89erVTxKPd5FIdFRMicji9UY5cWL91FGFbaGsdBYsKEIIB/AM0C+lfMPiNWlupjtmlzuFwelSEpRCwUOh4CYQGGVoaMsyt2p+rGLnbaRSbQwObkMIg46OXaxebcW+dHTsorPzhWJi7dZiTIolHJUJqR2Oxuia2pw5p/PtfgzYAyysXuUikEi00dp6GFXNouvuhpsgWLrJFEUv58ttRKR04HDkkVLw7LPvQ0oFv3+k2EXqp7PzBYQwi+VOpwp6WcPGtqCsZBb07QoheoCbgL8BPrGQfaQ0zqJZs5NINCGlSSAwyMTEagoFB1KaOByZmp6vVFSs1tdgGAIpTRQlRyLRRDh8HCFyi3qTTRVIqy3h8BHi8TZ03Wq7VdS+A7gERSkQCAwjpYJpCsBqgxAFTFM7gzZVFklrTEzTbPhrWAhiIRcphPge8FkgAPzBbF0eIcRtwG3Ft5eGQrPPPD0bVFXy678e44UX3Ozc6cbtNrn11jhPPulh797aJilKJI4QCPTNv+FpoGlW+595xkM8rnDDDSnuv9/PyMjiCIquJ2ltrf334PXq3HLLCDt3BtmzZ+FxKzfdNMLkpMrjj89McTAX0ehRzjvv+jNpZt2w49nvsprlKXJWKw7kcphSzjuHY95fshDiDcCIlPJZIcR1c20npfwS8CUAVXXLW2/dt/DWngbnnfc91q/3sWnT6xDCYPv2L9Paup2LLrq4ZueQ0uA739lKra9BCJPt2/+b1tbLGBrazPbt36Sp6SoGBi6o6XkApJTce+81fPjDP635sVtadtPT8xjNzW/nZS8LV5zTik+Zi61b7yCZ7GTr1usWfK6vf/1Gfuu3vtzQyaI//YnH2DN6gOWdE352LDRp6UKu8RrgjUKIo8C3gRuEEN8804adLZWOWSmtAumN4kOxugAKDodOoeAll/MtaOZxvREMHiefD5DLhauWz3fPK4puj/KscOYVFCnln0gpe6SUvcA7gJ9IKd+96C2bg3i8DU3L4XZbdWobLYWBaaooijVJbrbpBPWOEDp+/wDx+NyF0Ofe1w69X+k0nBWWTE4FuIEVi9IoFgpYglKadZtItOLxxBuq/YHAAIqiE4utOc09TRyO/KwZ8W1WDqclKFLKR5crBqVEOh3BMNQKQXE1TBwKWNGyJQulJI6zlQmpV4LB45imSjJ5egXPnc4UwGlPPrRpLBrOQpFSIZlsKfsedN2FpjXOP3x1l6dkbTWWoCQSPQvyhVQOIGqaJSiFQmNWSbRZGA0nKGD5Hvz+MYQwGy6FgWFMdXkMw0kmE2oYC8XtnsDpTC7Yf1LppHU6k4Btoax0GlZQFMXA651oSB9KyUIBy0qZLQF3PRIMWsmU4vHZkymdCttCOTdoUEGxugrB4EgxJ0rjWCiVTlmwxNHpTKNp6WVs1cIIhY6TybSckShoWgrDcFbVebZZeTSkoORygWKhLEtQhJAoSmNEIlY6ZaFaHOsZhyOLzzdMLHb6w8VgdXls62Tl05CCAtYIiSUoUykMGoHpXR6r7IWoez9KMHgSkGcUfwKWhWILysqnYQUlHm/D650sv28Ux2ylUxYsgSllcKtngsHj6LqbdLp1/o1nQdNStkP2HKBhBaVU89jjsSJmG8Uxa1ko1bOYk8nWOrdQTILBE0Xr5Ezm1JhoWtq2UM4BGlZQSkFhHk8MoGEcs9O7PDBzOkG94fON4HDkzqK7YzmcbUFZ+TSsoOi6i0wmVCEojWKhOBBClstywszpBPVGMHgcKRXi8Z4z2n8qBsUWlJVOwwoKlObCNJaFUkrSXOlHSacjmKajbv0oodBxUqkOTNN5RvtPxaDYPpSVTkPn40sk2mhrOwg0jlO25D/p6NiLEAaGoZFKNZPNBurSj6JpSdzuCfr7r5yx3OWK4XLFyWRaTumsLQmKbaGsfBpGUKSUSKmTTg9hGDkcDheTk2GklAgh6mrYWNMyeDwx3O44Hk+84nUMRcmQzcbo6PgRQqg4nQGEUMsJhLZu/TGJRCupVDOpVDO53PL9qwuh09GxAwCvd4zVq3+CxzOJogxgmsmqbXW9jWTyQqLRjeTz1WmHnc4UpqmdsYVTK6Q0yWbT5PMZvN4Aquoqf+5SGiQSk+h6AUVR8HqDaJprWRI7pYARrPSIzUy5wY3ich1oA+px3nbDCIqupzl69Ac888yfkUgcJhDo44or/ppt2yQOh1hiH4rE6UyXRcLjiVe9djimguykFGSzAbLZIIODPaTTDxKPf4177hllbGw1V175p1x44fWsX/8cPt8Ezc3HaG4+Vt7fqntjiUsy2UIq1UwmEzqrAmHTM6tZJUMncbtjxedJXK7Jsu8DIBI5SD4fIJv188tfPs/DD/830Sgkk9DdDbfc8mZe9rIMnZ07SKfbiEbXE42uQ9c9aNryB7VJKYnFRrnnni+wa9f9fPCDX2b9+isAKBSyHD68k29963c5cuRpgsEObrnlM1x77a/jdvuXXFQeAX4TeDfw10wJRwL4HaAfKzXiRUvaqoXRMIIyPPwETz/9aZqaLmTTpg/Q3/8Tnn76L7juunezZk37InR5JC5XskIopiwOtzs+LZZEIZcLkMmEiMU6yWaDZDIhMpkguVwAsOrUjI09zPDwt7jiinZe9aqbOXr0JQzjM6jqJMPDr2Ht2l+xf/8rGB1di883gd8/jt8/hs83TlfXS+Xukmk6yiIzJTRNp0x2LYSOyxUvi4XbXRKOWFWUsWlq5HIhUqkOolE/7e07SSa7OHToRqRUSacnePTRO4hGL+KCC96JyxVCCJicPJ/du8+nqekYkchBurufoLv7l8TjPQSDJ0inZy8GthRIKRkZOcw99/wjTz/9bbzeagtqaOgg//u/n8TtDvKe93yJo0ef5sEH/55gsJkrrnjrMrW6MWkIQdH1DCdPPkShkGDLlg+xatXriUS28vOf38bRoydZtarljJyyQpgVojHVNXG7o7hccS6//PbytqapkM0GyWaDJJPNGIYTXXeh687i/Jw8mpZF07JEIidpbT1Yfq+qeQyjwIkT99HUFKWj42a2br2IrVvd7N69B0X5Fbr+6nLN4+HhTSQS7SQS7VVt9Xgm8fvH8fksoWlpOUxn5x7AsoQymRCFggfDUDFNhcnJGOvW3YfLFcPpTFRdez7vJ5cLk0x2kMtZZUlzuVCVJREMWpbS8PA2pCwVKRujv/9p+vqu58orfwuXK1TxPcHISJiRkYtwu6NEIgeIRCwfl9c7Qm/vI0xMbCiOFi3deMCxYzv55jc/wb59jxbbMiUoup7nyJGdDA3t5W1v+2uuu+4DHDt2KceP72D37oe47LKbUdV67FxYZID/Bu4svndhWTXbgXHg88BTQGUqeg/w/4C1i9CehhCUfD5BInEYIRQCgT4URSUU2oSiaJw8GcU0C3N2eSzRSMzaNXG74wgxM+u/VerCWm4YKrruwjQdaFqmKjp3OoahUii40XU3hYKbbDZIoeAudlvSPPXUg8TjKhde2MqhQ9exd++13HffPXR2+rnmmrW0tp6cc6RHSoV0uol0ugkh1uLxxPB6J4vidQiHo1Bs22Rxe0lvb5ZA4GT5GJOTa4lG1xOP95QF4lSEQscxTa0qmVIyOUAmE2Xnzm+wZ88PAMHrXvcFLrjg7ajqVCrjbDbC4ODlDA5exrZt/w1AIHCScPgQuu4utyWV6pi3HWdLKjXB5GQ/73nPvzIwcJAXXri7vK5QyDE2dpR8PkNHx8bib6udQKCNkZEjZLMp/P7lEZQs1rdZmk4Zh6rc+SbwZeBTgAPL15IBPlxc3g0cBV7A8r+ki/uHi68Xg4YQFKsuS6mWi/XPVurX9vcnMc0cfv84bW37CQRGCAZH8PvHzuqMpinI5XxlQSiJROXDWuYqrztVlyOTGeH4cR+JhACUYtXDQnHdEIVCgmSyle7uF8olOzUtjdc7WRYPj2cSr3cSt7va2shm/cTj7WQyIdLpMIWCByEK7Njx71x00QY8nnHc7ijh8GHC4cPFPCzNxUdL8TnCdKvBSqbUXU6mJKXB+PhhDKNAa+tmfL424vGT3HXXhykU0mzf/iGEqP4MSkFtJ05cy/j4JoLBEzQ1HaSpaT8tLbvJ5wNFf8t6stnIWX1nc+HzNfF7v/cDmpp6uOuuv522VpYfilL920okRshkJvH7F172o1ZI4N+Kj+lcXnxOAoeADwB/CAwAXwAeA/Zi+Vi+XTzWQeDjwE+BdwG9i9TuBhEUC59Psm7dizQ3T5DN7sM0s2zY0F9ev2nTo6d1vELBTS7nJ5v1k8/7yq+zWQ8//OHfA2/CNFUMQ61ZtnZdt36spWhZRZGEQgVaW48TiQygKCYve9mXi3leprpxhqGSyYRIJNoYHt5IOh0u+mnCswqZlJI9e3wcO2bVtBFCx+OJ4vGM4/GM4fGM09y8t9wOKRWy2UhZYKQUaFqKWOyy8jFN0yAY7Obaaz/JBRe8lebmDRw79jj33vtxnn/+22zZ8kYCga6qdpRSP1pdKYV4fA3x+BoUpUAodJSmpgO0t++kvf05MpnmsrjU0onb22uVWMlk6jMS+UwJAL8N3IPlpP0acBJon7ZdHPgK8HPgeizxWSwXeUMJSnu7SV/fXny+OKnUAB0dJqrqQYgzy7FR8nFMt2akNNH1BNu3f6timcA0VUzTUfRRqGWxqXyea1k6HWPVqiTNzZZjddOmR2lpSdLWliIYjLF+/S/RtKmveWRkQ5Vo5HI+zmweTan9Kul067R4EYnLFSuKzHixIPoxmpqm6hH19DxOMHiibNFs2XItGza8try+uXkjkUgfJ048SSYTmyEoUzEo1cPfpqkRjW4gGt2AqmaIRA4RiRykq+tJurqeJJnsIhpdj6YtTuXDheDxBHE6l2d0SgBvAG5l6iZNA/9Rsc0I8OfAHcCrgP8PuAvYWbGNBL6DJTbrgN8HejibX9KpaQhBUVUvbncrhw4p3H//tfT0XEE0+hOeekpj69bLWLvWC8DIyHqEMItCkSkLxmx+kkqmi4SuOxgZUYlGe2YIhRAmDoeOougVz3mcznTVMusxdTMYRhavN8nIiEGhEEfKLsbHVZ57TiESuZRU6u3kcm1s3/5totFVHDp0zaJ+phaCXC5MLhdmcnJdeamqpjn/fKv0kqLo5a5SZfcgkeghGl1PIhECJEIos9blWUimNl33MDp6PqOj5+NyxYhEDhKJHGTVqp9zyy0DdHY+SCKxkXR6dc3r+jgcTvz+FlTVyeTkEFJKstkk+XySlpZe3O5ATc93OmwGfo2pYeNJLGukZJMPAA8CvwX8MdAKvEi1oLyIJTRglfW8Gsvfslg0hKBomp/Ozldw9OhdHDv2CIoSZu/e+zh5UmH16qvZseMNdHXt5ejRy2fZW6KqeVQ1WxaY6YJjjcRMLXe7s7S16UQiJ2ccrdJnMt3xOt3fYjlzrcJeQhQ4cSLAE0+8yEc+sptjxy7jgQde4tAhuOKKq0inuxBCkEy2nLX/52zRdS8HDtxMOHwElytejIiNUSik2bfvXo4f/yUXXPBrNDevZ2DgOG1tj3Dlle9izRoVw5gknw+Ub3ynM1kU44U5NnO5EENDlzI0dCle7yiHDn2ZG28cxu8/hmk6SSb7SCQ2kMl0Uov/WU1z0dt7EaFQJ7t2Pcjq1dt44YWHGRs7yrZtN+N0LrRm3tLjwApy2wEcA3YB32Sqyt8J4A+AGHALcClwHOtTawdC1J6GEBQhBD09r2bdunewe/d/sHPnZ3E6I2zZchtr1txCPu+rEBNJODzA5GR3ae/i8K6LbHahH2GBu+/+BxTlbbOKz5TwJAgERlHVbJU1UolpKui6G113smmTybp1VzI8/BMKhQc5/3wvr33t9fT1qajq9wFRFpNt2+4qH6O6pKxY0HIpJblclHXr7p2xvnrfUy+XUmFsbAujoxegaSkmJtZz8GCWQuF/kBJiMSeXX76RSy7pxO+fKnuaz/vJ54P4/QMAhMOHyeWC5HLBBUfMptOtPPdchCNH3oXPN0ggcBC//zDB4D4Mw0sisZ5EYj25XMuCjjcbQghWrTqPV77yo9x772f52c++jNvt56qr3sO11753xudTT6wF3g/8F/AKYAuWI/YlLGvmCLAbyAPfLT7AEpwvFvetNQ0hKABudwuXXfZXtLVdQSYzgsfTxurVr0dVvVXbtbfvZ+PGn/GrX72bQsE7x9FOjZQKmYw1TLtQKuNQZrOGHI4CQkTo6PgQDkc7+Xyc8fFe2tq2o+sBDENUdc0KBQ+l6IGZXbbZl5feC2EWZzTLYjDc6Rxn6rUQEocjSzB4nLGxrRQKfoLBmznvvE04nV+hs3OExx57Jab5cg4fbsHjieN0xotWjfW6RG/vw+XXuu4mnw+WBabyta7P9p0ppNM9pNM9CPEyfL7jBAIHCId3EQ6/QD4fJpm0xKVQCM6yv4Wmubj88rexbt1VtLb2lZd7PCFuuOEDdHZuZGJiBLfby4YNlxEKtS5L6P15wGewBKLyBvVgjegkgS4sx+ofAhdgOV63Yw0V34MlLN1YPpbUtOM7itsuBg0jKEIIXK4QGza865TbhUKDZatgKTEMJ4bhJJud+wddYvv2FLFYF/H4dcSnDTxceeX/MDq6jkOHXnZW7ZFS8tBDn2Pjxjee1XECgZOsW3cffv8giYSV7b65eSPd3W+kqWk/yaT1fZgmpFIeUqnqMYatW28nnW5lePiSGWLj8w0TiRyiUsRMU60SmHXrkni9J9H1EIWCHylVksm1JJNrUZQsfv8RgsEDNDU9Q1PTM2Sz7UXLZR2mWf0bUFUX69dfxvr1lzEdVXVxwQU3nNVnVSvWFR/TcQE3T1vWDXxw2rKPVry+rYbtWggNIygLJRQaPOu5LouNYWhV831KCGGgaTny+TOzrBaDZLIDKR0EgyfLgmIh5nV2W3OeUkSjG8qjRDOxAg+ni43bPUkweIJLL43S3X0fVtdDoVDwUygEKx4hRkauLeblPUogcJDW1sdpbX2CVGoVicR6UqneBQXy2Zw9K+pTdjpTuN0JRkcXI6i4dswlKE6nFQRWT4JiWQSdVRG31nJBdUD3TKygNjlPTIlCLhcilwuRSExfJ/nRj+7gwgtvxulMoGkxNC2OpsVxu0dQlOrpFobhpVAIksu14nKN4/Mdx+c7XryGXhKJ9aTTSxv2f66xogQlGBwCIJMJL29D5qGRBAUgkeimq+tJVDVd4eOY30KZKwZl4QgyGZVMppNstmvGWkXJlUXG6YyXxUZVU1iB6cWjCJ1A4CCBwEEMw00isZ7x8cttq2URWFGfaCg0CEA6HV7ehsyDYWg4nZkZy5dKUKanL5iPRKIHeJJg8CQTExuLx1iIhbK41QJN00Uu10YuN3MmsxB6WWCmP4LB/cTjm8jnZ+uC2ZwNK0xQLAslnV6cOSG1YrZE1bB0gnK6AxeZTBO67sbv7y8LykIslFLY/XJkapNSJZ9vIp9f+nk45zIrpjOpqjl8vgkAMpnFCNmpHafq8kgpikPG9YQgkegpFvuyWJiFkkRKB4ZRv8FhNrVlxQhKIDAMQCYTPOWs33rgVIJiiUn9BVMlEj2oaga3e6K4pNTGuUXF6bSrBZ5rrBhBKflP6t0hCyVB0Zl+Mzqd6bpzyJZIJKzI49Joz1RE7dyCYlcLPPdYQYJS8p+El7chC8AwrNnR062UehaUQsFHLheu6PZYgnIqP0o95JK1WVpWhKAoil4uQVHvDlmYEpTpjtl6FhSAeLwHv3+wmABqPgtFomlpu3TGOcaKEJRAYKQ8Oa+RBKXSQhHCxOnM1LWgJBI9CGHg8w2VI5HnslBUNYMQpl3c6xxjRQhKKaANGrfLo6pZoP6C2ipJJjuRUiEQ6K9YOrugLOeQsc3ysSIEpeQ/yee9GMbyFpNaCLMJSr1GyVZimhqpVHvRj3JqC2Wxg9ps6pOGFxQhTIJBa8i4EawToDys3WiCAtZoj8czhsORLS6Zy0IpFUi3uzznEg0vKD7fePnGbAT/CTSuhQKlMHzw+61heiFmTyylaSmkVOygtnOMeQVFCOEWQjwlhHheCPGSEOIvlqJhC6Xaf2ILymKTTrdiGK6yoMyFpqVsh+w5yEIslBxwg5TyImAbcKMQ4spFbdVpUApog8bp8swlKIWCu67zuFgIEompmb9zWShOZ9J2yJ6DzBujLqWUWFnnwCpipjHfJA5rv7Nr2QIJBgfL50qnQzU972Jdg66rSClxOPLlczidKXI5T83PuRjXEI93F7PgA5iznkNVk6RS7TU7/1L9nhaTxr+C+REL+aKEEA7gWWA98P+klH906u0VGQzOlsSutoRCBm9+cxLTtApo3X77/OkXF4YkmTyO37+mRsebyXvfG2PXLhc7dlg+hptuSpLPCx56qHb/6kKYtLdvrtnxSvh8OjfdZCWfvvfeTlKp6XWRJG9720n27Qvw4ovhszpXPD7Mli2zVTNoHJ5//ifktX3zb1jHJIdBVmdFn5UFCUp5YyHCWLWEPiql3DVt3W0UU1gKoV764Q/PnPxWa9rb97Jx48/J571kswGef/6WmhxXSoPvfGcrt966eD+CK6/8ejF3rFV/Z/v224nFuti//7qaHF9KyY9//Eo++cmf1OR409m69UsAHDx4K/l89exuhyPDpk3fYGjoGiYmzjur83zjG+/nU5/66rIki64VH//UDRx+/qeNPQTiBpmdX1BO6xKllJNY5VFvnGXdl6SUl0kpL1OUxSwlNEUoNEg+b2WHbxSHbAnDUGf4UOrdIVtJqRSGEMaMdXYMyrnLQkZ5WouWCUIID/BqrFrMy04oNEQ6HcHpzDSMQ7ZEZQqDUl2fRhKUZNJKWO31DjPdyNU0y+VmC8q5x0IslE7gp0KIF4CngYeklPcsbrPmp5SQulCwfBCNLCiNMmRcSTJppTPw+0/MyAA3ZaHYw8bnGgsZ5XkBuHgJ2nJalIaLpwSl0bo8yycoQjDDqjhdSqVF/f6Z5VpV1Q5qO1dpWDdRMDiEYWjFH65KLtdY/4bLJSi1EJPikYrH02eUs9C0JLruox4zz9ksLg0rKKHQEPF4Ox5PrJilrbF+vMslKLUK56gMwPP5+qvWWVGytv/kXKQhBaWUkDoW68TrjTac/wRmCophaHWfC3cu/P5qQVHVVNFCsTnXaEhBKc3fSSZbcLuTDSkolaU0Gm3IGKYsFMNw4/NV+1HseTznLg0rKKaplOfENJpDFkDXneVE1Y0oKKUuZirVVa7aB+BwZBHCsLs85ygNKSih0CDJZCtut1UMtxEy3U+nMidKIwpKKQo7lSoNH1vdnrONQVkBU3bOaRpOUKyE1GPEYp14PJOYplL3hb2EMGlpOcz559/L+vW/AKpnHDeioJQslFwuRKHgL3d7SjEoZ+pDaeAIexsasBRpKSF1LNZBR8destlg3U75d7kSdHbuob19X7mWcTJpZTorCYrTmcbh0BtWUIQwSaW6CQSOArJYqNwOajtXaThBKTlk4/EO1q79Vd05ZIUwiURO0Nm5m6amE0gpmJhYzeDgVtaseQZdtwLCSoLi8cSAxoqShcpCX5BM9hAO78PjGS2WH1XQ9Xorp2qzFDScoIRCg6RSTZimiscTY2ysb7mbBFhTAdrb99HZuQeXK0U+7+X48UsYGtpcDrpbt+7xcvesJChut+XMbDRBmW6hgBWPomkpdN1Lo8UF2dSGhhKUUkLq4eFNeDwxhJDL7JCVhMP9dHbuprn5GEJIotEeDh26homJ1TO6Yk5nplwIvSQoXu8k0HiCUrJQhJAYhptstgW//yRSCjsG5RymoQTFSkitE4t14PFMApBKLf2QsaZlaG/fR0fHXjyeOIWCm5MnL2JoaDPZ7OxJnhRFx+EolOcerRQLpZSHLJnsobn5BQzDTTrdsXzNsllWGkZQpJQEAifI5+MMDpp0dx/GNA3S6aUb4QmFBujs3ENz8xEUxWRysoujR7czPt6LlKfOAaNpljM2l9PIZEbQ9Uny+ThutwPDUMq+lUZASkk2mySbTZBKjVEotJNMdtHSshNVTdetQ1ZKk3w+R6FQwO1243Bo5cRNhlEglUpTEkiXy4XT6UKIJXb454EoUEqVowAhoNa9SB2YxLrcCOCozfEbRlAMI0M2exePPfZffPWrf8hNN3Xi9d6KroNjEfM5qWqOtrb9dHbuweudRNedDA6ex+DgltPqbqlqFsPIc+zYE9x99z+QTu/H52umt/fN+P3XLt4F1BjDKDA0tJdf/OKP2LLlfh5+GDZs+DTXX/9b9PZa29RjUJuUklhsgh/84J945pkf8NGPfoWNG63UkplMgqeffpB//df3ks9b86puvPF3eetbf5+2tlVLky1OAqNY+RA/D5RS9oaA9wMfArZg3fi1YAD4TSzh+jKwujaHbRhBGR7+Far6HyQSfWzb9ht0dNzFs89+j3z+rXR2vqzm52tt1dm48VFaWw+hKAbxeBv79l3H2NjaM5pz43RmSCaP8sQTd+L3r2ft2rfgcn2fY8fupq1t8XLX1prx8SPcccdthEIGF130VqJRB/fc838JBtu45JIgmpaf04ci5fLEmUgpGRk5zt13f5Gf/ewruN1T7TNNnV27nuBrX/s9LrjgBi699G0MDe3j5z//Kpqm8L73/S1O5xKMWCWAfwT+vfi6RAz4F+AQ8G9YN34d+7sbQlB0PUssdjdr1qQJhd7LZZf9Jps2RfnRj24nm32M9vYrUZSzvxSHI09b20E6Onbh8SRpaTnC0NAmhoa2kEo1n9WxFWWSaHQvk5NRLr74N+ntfROdnQkOH/46g4P7Mc0CijI92XN9YRg6R448ydjYIW688a/YssVE0y5lzZo/wO9vIp/fhaYNz7n/cgWtHTu2iy9/+ZM8//wDAFWCkskk2bnzESYnh/jN3/x3rrjiDQwNHeXw4afYu/cJ4vFxWlp6Fr+RdwP/CYSBTwPnF5fvxBKSR4BfUm1J3At8ETCBTcBHgT6mBGc38FlgvPj+FVhZnxfR7dgQglIoxHG79wAK+fwlhMNZAoE2YjEnudxRDCOLopx5v93nG6Ozcw9tbQdwOHSSyQi//KWHfP7dmGZtbnIhxslmR8lmIRhcj6KoOJ09KIrG5OQIDkcWp7O+BSWbjXP06JPoeo58Psejj36R++9PcsEF/8jq1dvI5wfx+YZxOmPL3dQq4vFRBgf38YEP/AODg8fYsePu8jqPJ8C73/3nvOMdn8bjscqY6HoeXc9hGDqmqS9+AxNY4uAAPgW8FygZRa/A8p8kgNcUl6WxhOSfgAksAfk58AssUboEOAB8orhcYInOz7G6OH+4eJdSnyGm05BSEgxm0XXIZEJ4vVFAEIsJMplBCoXkvMeYjqLotLfv46KLfsAll3yftrYDjI6uY+fON7Fjx1vYv99VMzEBa2TINKFQEFhVSaZGehKJKIVC4lS71wVSmhiGTqGQ5cc//lt0vYDD4eDrX383e/f+BF0vjVxNLHNLq/F6w/zpn97Na1/7IVyu6tE0RXHg8fgIBEI4HBqZTJIdO35Cf/8eLrjgeiKRzsVvYAzLp9ECvApLTCRwDNgHXAu8HktUTGAH8DWgF3gJy4n7xeIx/rl4vJIP5nvF4/w70AU8RXWXqsY0hIUCkMmoqCqoaqEcuxGNKoTDcDollLzeKB0de2hv34+q5kmlIhw6dDUjIxsqRlpmZnI/UzQtg6ZlCAQmGBys1u+SL2bjxiQdHQ/gdLYgpVJ+mKaj+Fz9vnobBSkd5W1K25mmYNWqDIHA0Yrtp+/vKMbKKHMsn9lHURQTt9vBq1/9W9xwQwtut4/9+z/Dzp3f5RWveBNQSrgkZ91/OVi//hIA0un4nNtIKcnlUjzyyO3ceedf0ta2luuvfy+q6lyqZlpikcP62LLAZ4D/qVj/IeAfgP3ACJZTdTWWZXMDsBV4Esu5ey3Wz/gE8EPgS8VjbFrcS2gYQYnHraZ6vQm8XpN83k0+L9C0IA7HqXOXCmHQ0nKEzs7dhEJW6oOxsbUMDm4lHj+7mAlNS+N2J3G5ErjdCVyuJG53ovxQFEuc8vk4ExMG73tfji1b7sPtPojDYXUNVNVDOBxD06bMa113outOpHQghFl+KIpR8Xr2MqBg3SCGEWXVqgfP6voqyeWSwF4uvNDkmmsmcDi6uPjiAW65ReJ2P4vHcz7gxeHI4nJNkMudnd9pKcnns9x//9e4886/pL19He9//xdYs2br0ozwuIEAVjflIHCq2mwmVh3PApa/pdQ8J9CBlUY+huU/+cPi8f4Eqyv19do3fToNISiq6qFQ6MCafHYCj8dLNGp1DAOBXlR19qAwtztWnJy3H03LkskEOXLkCoaGNqHrC0ugPF0wSo+ScJQEo0Sh4CaX85NOR5iYWE0u50fXXaxbdz+a5mNkRGH9+iTNzWMkkylM08TlakZRqv8JVTWPqlbnal1uHA4Vl8vKFZvLJQBJItFKPi9wuyGXC5DNbqO19Vn8/pMNIyi5XIb77vtvvve9vyAc7uD97/88W7degcOxRLdHBHgD8GPgb7B8Jq/AslB+F3gG+Css8XAUt3dhWSmy+MgAR4A1WOLyOJZD43+xqmjtApagVkVDCIqmBfD7rwe+Tyr1M2AN+/btwDQNQqENVTejECZNTcfo7NxNJNKPlILx8V4GB7cwOdlNtRku0bTMDJFwuSYxzTjXXvsl5sM0raC0QsFd7jKpah6/f4xQaBCHI4+imEjpIhhcR3f3M+Tzz5LJqIyOPoeUBbze9pqMUs2GrnspFPwUCgEKBT/5fKD43o+ue4vZ6xf2LyylZO/eXu6443l+8Ysor3/9lRw+/AT33Zfm5S//AP3970bTXASDh/H7+xkfv2hRrqmWSGmye/cvuffef0LXC7zznX/BqlXnkUwmURQFn8+3aN9NGQfwJuD7WGX03kC1d9PEsmLWA36sEaA+4L+AS4Ee4DtYQ8vvwvKVUHw/DAwCPwBepGbxJnPREIIihKC7+/V4PN9gYOCbPP98ml27/Gzc+GH6+t6CEAKXK0F394t0d09VSI3FOonFOlDVHKtX72DLlocX9K8vpYnPN3d3onpbK8RQCImiGBiGRiYTxDC0ioeT3t6n8fsv4tChHA88cDeZzP20t/u45ZbtRKO/w9GjF2CaKqapLigdg6LoaFoWVc3idGbQtGzRX5MtLk8zNmblqXW5JvF4Rub6dDEMF7ruwTDcFc9uDMODrk8tMww3mzffwCtf+Qf89Kf/xOc+tw1N89DbezWXXfZOVNUS1GSyh6am3QihI2V9/8RSqUmeffYBotEBCoUcn//828rrenu38elPf5/29iWYgNqGNcT7Oawh4pJf2wNcBPw28OtY2n8e8HEsf8r1WBZKGHgr8Mni69cUj/MxrLv8IiyhSWJZM4tEfX/bFbjdrXR1/SYdHd3k8zHGx1+G3/8B+vr209f3zKz7hEKD5fo985FOh0mlmsjnvei6wo4dbiKRl5VFQdedM15bTtX5/90VRae392mGh6+ls/N9ZDLXk04PsHq1k9WrFV56aQ2FwunN5TFNq3RILucnlZq5XkrJQw99nosvfkdpD1Q1i8ORQVWzqGoGhyOLwzH1WlUzuN0T5eVzsXVrkJtuehdjYzGk9NPZuR2PJ4ZhvIhheJBSRQgDr3eIVGoJYjgWiKa5uOqqt9DXt53WViuYUFE0LrrotXR1XThj+0AgiN/ftDSNU7Csjf/A6pocLy4PAa/Fsk5K/zNO4O3AOqxukoklFjdhCZMArsHqPu3E6h69HsuvMgBoWEL13uK+4dpdRsMIihACXe+mq8uKilXV82hqehC3e2rIuL//fNLpCL29T6FpOeLxNtLpJlKpqcdCfCdSGrz4oputW7fWpO2leTyFghunM8jmzb8BQEvLYZzOhzHNpZjHo6DrXnTdSy63kO1NHI5clQhVik9LSy/t7dmK9c8zfbTN7Z6oO0HZunU7W7duLy/zegNs3/7KZWzVNJqwbvSFcGnxMRseLN9JZRXy6SM87zy9pi2EhhEUoCrVY1fXS0Sj3Rw+fBUTE2uqugmRyEk8nkmef/5Ny9DKmWiaZWOWUheUcDis7peuL+HQ5IJRMAwPhuFhYaGVEkXJo6ol8cmRSi1BDIdNXdGQghKN9nDw4DVks7PPNNa0zIybdzmZS1BK/pxSgFtjIzBNF/m8i/xpDk4t1xwfm9rTEJGyJUqCMjKyfk4xAauLUco7Ug9UdnkqWVmCcubYYrJyaChByeX8mKZSjpSdi3qzUEoJqvP5mV0eq7tj31E2K4OGEhQpFXK5QDnL2WwIYaJpuRk373JizeNxzJgbpKr5OvWfLD52/Z2VSUMJCljdnlKm+NlQVat7sdBI2KVA07KzCpzDkccwGkdQaikCdjdnZbLiBGWu7sVyommZWQWu0SyUuUTAtjZsSjSkoDgcOk7nLNFczD2ispzMZaGoamNZKHNhWxs2JRpSUIA5rZS5RlSWk7mcxFNO2ZWPbcWcG6xAQalPC2U2gWu0Ls/ZYFsx5wYNJyi5nA/TdMwpKE5npjwDuB5QlAIOhz6nhbISujw2NiUaTlBAkMkET9nlqbcRHpjZBRPCQFHMFW2h2N2cc48GFJRTj/RoWqauRnjmGnWaipJduYJid3POPRpWUKzgtpl/gfUWJTtXXEx9Twy0sTkzGlZQFMXE5ZqZ7d4qSF4/XZ75LJR6ERS7e2JTC+YVFCHEKiHET4UQu4UQLwkhPrYUDTsVpxrpqTcLZf6ZxvUhKHb3xKYWLMRC0YHfl1JuBa4EfkcIUZvMQ2fIXIKiKDoOh15XPhRNy2IY6ozypaUuz7k+09hmZTGvoEgpB6WUO4qvE8AeoHuxG3YqCgUvhqHNEJSpEZV6EpTZu2D11uWxsakFQp5G51kI0YtV0PB8KeWcU36FUGQwuPbsW3cKbr45SSYjePjhqTq1zc0GN9+c4pFHPJw4cXb//Mnkcfz+s08R/qpXpXC7JffcU10qdevWHJdfnuP22wPk84vT35Bmji5fy6Ice6kYLxRo8555mdl6oD8+DNrRhs5SERsDKeW8V7DgjG1CCD9wJ/Dx2cRECHEbVilmhFC59dYDp9Hc02fz5kcIBEZpbn5HeVlT03HOO+8BVPVNJBJtZ3F0k+98Zytvf/ves27nxRd/n3zei893Y9Xy1aufZc2aZ8lkPsxi/dLu/1qQPcmTi3LspWIDsKu+KpueNpuAvTS0nrBQm39BgiKE0LDE5FtSyu/Pto2U8ksUCx6qqlsudsW1bDZMa+sRFEWW88k6nVmEEBQK3rOq+FYy2mpxDZqWI51unnEsTStgmk6EWJyBtpLl2cg/4kpWwnWshGuYj4WM8gjgy8AeKeU/Ln6TFkYmE0QIics1Vfm5HufxOJ2zB9qdSxMDbc4dFvL3eA3wHuAGIcTO4uP1i9yueclkwkD1SM9cIyrLhaIUUBRjReRCsbFZCPPeeVLKx6hDay2TCQKWoESj1rJ6i0E5VbInh6NgDxnbrDgaMlIWrFD2QsFVZaHUW5TsqXKz2DONbVYiDSsoMHOSoJV3pH4slFP5dOwuj81KZIUJSn3NNJ5PUGwLxWal0fCC4nYnURQdqD8fynxdHttCsVlpNLygALjdcRyOPIpi1pUPxenMzDrqJISJw6HbgmKz4qiP8dUzZGqSYBzTdAD1FYOiqrP7dKYmBtqCYrOyaGhByWZLQ8eTZcuknnwocwW12RMDbVYqDd3lMQwn+bwHjydep+UzZs9va1soNiuVhhYUKI30TNZl2P1co062hWKzUlkhghKvW0Gxc6HYnEusCEFxOtN4PHF03VmeebzcTI062U5Zm3OH+rj7zoLSSE8wOFxn1sncPh3bQrFZqTTMKI+UEilNCoUEpllAUVQ0LUg6PTVJMBbrWOZWTjFXF0xKA8OYIJ9PkE6nUFUVIRw1yb1ytuSAJFYyHQ/WjFBZfJSSRPgBx7K0bmGUrsENeJma1WoWl5tY11DPP/xGvoaGsVAMI8eJE/fxgx9cwTe+0cZdd13BiRMPkMl4y9vU0wjPbDONdT3LyZMP8fjj7+Wxx/6AO++8nGPH7sY0C8vVzCq+D2wE/h6obNEw8E7gzcCRZWjX6XAPsAX4LFPXIIEJ4F3AG4D9y9O0BfNj4HzgM0C+YnkceD/wWuClJW/VwmgYQRkZeZInnvg4Pl8355//MdzuJp588pMMD+8km7VyjtZTl2e2Al9jY8/wxBO/SyAQpr39NXi9HTz11KcYGXlyuZppY1NT6tFqmoH1z/5j8vko5533BdasuZkjR+7kscc+wuDgz8lkNuN2J+tKUKZbKIaRo7//ETKZUTZu/Ai9vZu58EI3v/jFbzM4+Cjt7VehKA3xdQBWF+gbwE+L7/3AHwDnAePAP2PlUa0kjPWvu6wlEypIA98CHiy+9wB/CFyAZdH8X2DXtH38wF8Cq5aojfORBe4A7iu+d2JdwzYgCnwReG7aPm7gr4E1i9CehvgFFwpx4vGDCOEgGFyPomhEIuehKBqJxFGSyYuJRGrT5bHm2eTwek3c7hgOh16u96Mo1a9PtSwc7scwNKS0PA75fIJY7CAAwWA7puklHN6EqrqJx4+i61mczvrI7m5QbWoXsPrtJXTgK8CfY92UYHUrTgL/BviAx4sPWdxeAp3A7y9mwyuYfg15qgvXGsD/AH9C9TUcA/4dS/x+iSWYldfQjCWcS0HpGko+lOnfgwncjvWZpiqWHQH+A2gFngQewGq7UVwfBD65SG1uCEGRUmKaBRwOidOp43Il8flSNDeb+HyH0bRRACKRk5imY8E3/WzLhLCcv5oWZ/v2/11Q+0zTUZ4EaJoqTmcah0MvZ5UrboWUBgCaZqLrToSwxCadHqBQiNeFoOjAXwF/U7FMYv0Qry++jwJPYfkk/gTr3/zPgJ3APuAm4KHiPgeA3wZ+BbwV6FnsCyie93PAFyqWla7hmuL7WLFNb8Nqexz4CywR2Y3lL7qXqRv0o8CjWNewGP/s05FYVt6/TltuAtuLrxNYon0zltWUxvreHgFeBG7F8ouZwHHg97DE5S1A7yK1uyEERVVzvOUtx8lmc1x44d34fF2kUgP4/VkCgSGamgaAEE1Nx2lqOl7eT0qBaarlm73ypi8U3DOWTW0neOIJL4HADXPuP/XawfQMmZs3P0Jr66E5LSZF0afNQK6vwsKlf7O5aGHq5vs2lhN3GOtGK12JgiU8XwaeAV4J/DFWl2EpmO8aIljdr8eA7wH/CPQz1R0TWNcQB74GPAFcB3ya+rmGIJaV+DPgLizxOQq0V2yjYFkv38ASxGuBP2XxrqEhBMXKbm9y8KCC03kxgcBmotEjPPSQi9bWdaRSN9PWlmZ0dB2GoZVv+jMNcpPS4MABJ5dcsv6M9i/lip3Lp2OaDoSYMl41LYDD4Tqjc9UaBXg98CqmhofjWKZ1iUGsf/U7itt9DPgBlqiUMLBu1DuAdVj9+s5FbHclAngNcCNT15DC8peUGMESlK8DrwB+B2uE6FjFNibWP/zXscTyD1gaCwusa7gBy9or3aQZqr+HcSxr8r+xLK8PYfmD9k071t1YXdRu4BNY17JYQQoNIShSRpAyQCIBhw410dGxkeHhMU6cEHi9W0il+jhxoj5uSADDsD7WSgvF4fDgckUAyOVS+HwF8vkoUhoEAr2oqm/WYy01CnAF1g3mxPqXHML6h84WtzmK1aX5bSwzuhNrKLZSUJ7HumFl8VhXsnRDigKrW1B5DeNY11DMZ85xLEfmh7F8ED1Y11UpKC9h/ZsXgN/CummXclj0EqxrKP2yJ7F8Iv3F9yeBH2INJX8SWI31HVQKyl7gU1iC+jEsK2sx44gaYtjY+ge/kEBAMjT0CxKJIxw58n1Ms0AotB6Ho74iTkvdmUoLRdP8tLdfhRAOxsdfIpcb4MiRH6Lr6eI11I8gzofEslqOYTkNnwK+W7H+ONa/eQx4E5YFEAdGmRKl5UZiBYkdwRKMZ4FKj9kJLKtqAstKeGVx+3q7hjRwCOsansOyCEsMAH+EJTKvxbLYUljXkFmkNjWEoAgh8Plewdq1F7Nz59/x7W+vY+/e/2LdunfR1/e2uogyrcbyJFSG1gsh6Ol5DX19b+HAgR/wy1/+H1566d/o6/s11q17Zx1ew9xsxnJmPow1TPxhYC3WjzqFZa08h3Xjfam4fTtWWdG7l6G9s7ERy2n5C6xh4vdjOSp1LOE4COzAilr9H2Ar1jX0YZXQrAfWA78OPA1chFU8qweru5nEEppnsUT/DqxguXYsS2Zhww2nT0N0eQBMs5cLLngzl1/+VpLJAXy+btateyeatvwjI9NxOKwct9NTP3o8bVxxxecJhdy4XMfYvv0G1q27FU0LLEczZ7AVyyy+hmqz2A/8GtbNFgGasHwo52NZIa/FGqL8HtCF9aP9PWb+C3qwxGUx2QT8LnA51f+WHiwRzGA5lUNY3ZnNWF2JV2H5GL6NdVP2FI+TohoX1ue0mKwHPgJcTPX34MIaoYkBbVjfy6ewfFRRrFG4Xixf0Rqs7+Ijxe0r0bBEdDEQpRq4tURV3fKDHzxzw9DtjqMoOplMuOxYbWvbz6ZNj/L007eSzYZq1dRZkdLgO9/Zyq23TndvLYyNGx+lvX0/+/e/nOHhmbfQhg0/IxI5yVNPvetsmzonUkru/1qQE4Xkop1jKViPNfTcOPbbTDZi+TIaojswB24gK+W8X0NdWigXXHAPbncS01RIpyOkUs04HNbMjGBwZNEF5WwpZeGfqySqFStzqgFBG5vGpC4FJZMJo6p5Bge34PePE4mcxOm04hk3bfopvb1PkUo1k0o1kUw2k0o1F9MY1Mf/2FxdnhKmqZZFx8ZmJVGXgjI52UUkcpL+/gvLIyWaluHKK79RXu/3jxMOn0RRrHgOw1DL1kxJZFKppmVJYlQSi9Lw8XRsC8VmpVKXghKLdQEQCg0yNrYWsIZgk8lm8nkf+/dbQeBCGHi9k/h84/j94/h84zQ3H6WjY2paWjYbIJlsJp2esmay2QCLac2UBKUyeK0SK7BNIoRZNxnmbGxqQV0KSjLZgmFohMP9ZUEBq2yG1xstv5fSUbREmhkZmdrf6UxViYzPN0Fz8zGEsBzQhqFVdZdK1sxcXZTTpdTlKT1Pp3QeRdHtNJA2K4q6FBQpFWKxTsLhgarlmUyIpqZjWHEec1sY+byPfN5HNLq6vExRdHy+CbzeibLQtLUdRFV3Vx0/mWwmmQzT01PA5UqSy53+sHTJQpnLTzIlKAaG3fOxWUHUpaAARKPdNDUdr7qpM5kgimIWl51e7IZpqiQSbSQSbQxXxIi7XIkKS2Ycv3+MlpaDvPKVKbZvv51CwVW2YEr+mXQ6Uk5LMBtTFsrsmdhKVQ5tP4rNSqNuBWXKjzLAyMhGoLJSYPy0BWUucrkAuVyA8fHe8jJFyfDII18gEnlZWWg6OvaWhUJKQTodLneXrK5TE4WCt7j/QgXFHumxWVnUraBYN6ibcHhKUKZqGceYnFy8vF+G4WRkRGVwsDImUuJ2x8vWjN8/Tig0SFvbwfIW+bynKmZmfh+KbaHYrCzqVlBAEIt1EgpN+VHyeS+m6cDtji9Le7LZENlsqMpRrKq5iu6S5QA2TRWHo3AKH4ptodisTOpYUGByspuWliO43fFid0eQyQSXSVBmR9ddxGJd5S5aiSuu+MacXZ5SfIptodisNOo6CGJycsqPUsIqPTp9ulP9YRjanIJScujaForNSqOuBSWTCZPPe4lE+svLstkgHk+cekubOJ1ThdfbForNSqWuBQUsK6XSQslmgyiKUZ7bU68YhnoKp6xlocy13samUWkAQenG6cyUI2QrR3rqmYV0eYSwLRSblUUDCEq1H6VUmqKeHLOzcSpBKXV5bAvFZqUxr6AIIb4ihBgRQkwvorYk5HIBstkA4XB/8b0f01SKfpT65VQ+FDsOxWalshAL5WtY+W2XDcuPMkhpDo/lmK3vLo8Vi3JqH4rd5bFZaSwoBaQQohe4R0p5/oIOKhQZDJ5ZTZvZWLs2z8tfnuHuu/1MTDh45StT+Hwmd9+9eLlYk8mj+P29Z7z/9u0ZNm7M861vzZ5d7r3vjbFrl4sdO86+fOpcpBOH6HM3Tjb92TiazdLrXrzPaClYCddwMJPBXMoUkEKI24DbrNcqt946vVT2meN0prnssm/S1HQl/f0XsnbtE3R27sXj+Y2anaMSKU2++93zePvb95zxMdaseYbVq3eg67fNuv7SS79Kd/dmNmy46ozPMR/337+Rvcf2L9rxl4KNGzeyd39jX8PmzZvZs2dPQ1U2mI7X613QdjUTFCnll7CqJqCqbilE7fy9hYKfTKaJSGSIgYFtZLMRHA4TpzNbnpBXWyyr7WyuwTSdCKHgcJiz5lkxTScOh3lW5zgVluUpUJS697vPixCioW9GsK5hJXwX89EwV1jyowhhVs06rlcqkyjNvt5OA2mz8mgYQYnFunA4Cvj9ow0xdFyqb3yqGcd26L3NSmMhw8Z3AL8ENgkhTgohPrj4zZpJKR4lHB4glwsgpahrC2VKUObOiWJbKDYrjXl9KFLKdy5FQ+ZD190kk82Ew/2cOHEx2WygroeOp4LX5hIU20KxWXk0TJcHrG5PMDiMEAbZbH2lMZiO7UOxORdpKEGZnOxCUQyCwWEymfoObit1eU4VLWuH3tusNBpKUGKxTqQUhMMDZDIhVDWPqp55DeXFpGShnMqHYkfK2qw06kZQpDRJp4cZHX2GdHoQKWcWyTIMJ4lEK6HQANlsECklDsdJxsdfIJk8iZQGUkoKhRTp9CCGkV+GKym11XbK2px71I2gmKbOoUN3cNdd29m372uY5uxiEIt1EQiMkM97AUkq9QseeOAmXnrp/6LrGfL5OHv2fInnn/8C2ezo0l5EBfPNKLa7PDYrkboRlIVi+VFMXK4UIOjs7ODKK/+BtWt/DYfDRTY7yoED3ySZPLas7Zzfh2J3eWxWHnWbpFpKyfDwr3j22T+nu/vVeL3tvPjiv6BpGh/72Dq83o3kcj7gIPv23cOqVa9DCAePPvp+YrEDJBKHuPfeV/Oyl32Rzs6XL3notpQOpBSnzIliWyg2K426FRSAQiFBNLqHwcGf43a3YJXWiPHMM3vYvLmJdPp6XK4DRKO7aW7ehmnmKRQSSKljGJDPxzDN2W/opcBKsjS7aEhp+1BsVh4N0eVpabmE173uAd7xjv1ceumfcfx4DlXdQz6v4vFM5ZaNRM7j9a9/kEjkAlavfh1vfvNT9PS8atkmlpXq88xGycdid3tsVhINISjNzRfh83WjKE6amy8hGu1ACCutgdOZR9PqMwO+YZwqa5udqNpm5dEQguJweFCUqeLko6MODEMpOmYhGJw5xFwP2Imqbc41GkJQpmOagrExb4Wg1KuFos2wUKQ0KRRSZLNZDCOHouRYSNY8G5tGoK6dsqdidNSPENaNGAiYpIuuFCEcKIpGLjfB+PhOVNWL0xleFj+K5UOZiqcxjBxDQ0/w+OMfIRLZzc03tzEw0EYk8haE0Ja8fTY2taYhLRSwBKVEKDTV5XG5wjQ3X8jAwKM88MAbOHHigeVoHjBzaHhsbAePPfZ/cDpD9PW9A1X1sHPnnzI6+syytdHGppbUjYWiKCo9Pa/huuu+RkvLJSiKRiRyHldd9Y8EAmtwONyAIBLZzBVXfJ5AoBvTfAGfr4vt23+DXbvejsPhQlU9nH/+x+jouAawRohmRxYtnOnPAAVcLhNNSxfbZgmWENOfZ+5f+drh0Ms+FMPIcfLkw2Qyw1x22We4+OIr6Or6O3T9Tvr7H6G1dTuKUjdfh43NGVE3v2AhFCKRrUQiW8vLfL4u1q59GwA9PTtpaztYcTMfQdNMIMLGjRHWrNmLEHuoFAbrBn8CeHyWm35upDTRtDjbt3/zrK+rlF2uUEgQj1vJlkOhTYAHr7cTl8tFInEUw8iiKP5THMnGpv6pG0GZj0LBg2GoeL2TqOrMeT4lB2026yedjhQnDwqktHp1M58FVlWA6mfrYfLkkx4ikZedcruFLCvlv5XSxDStER0h1GLovYLDAclkP/l8HE2zBcWmsWkYQRke3sTw8CYANC2NzxeltfUQHR3V5Trc7iRudxLDUMlkQqTTEdLpMOl0hEwmTCYTKovKXEhpsHevi4su2nrK7c6GqfQG2KM8NiuGhhGUSgoFL5OTXiYnu2huPoqmZdm9+9XEYl14vVE8nkm83km83ijB4BBtbQfL+0opikIzJTKplPU8W7mLxaIU2KaqEk3z43A0dkEuGxtoUEGZQhCLddLScgSPJ874eB/xeAfxeEfVVoqiV4mM9Zikqel42eEKU92ldDrAhg15gsEh0ukwun72Vd8cDjcuVwSAfH4Cw1iHrmdQFAO/vxdV9Z31OWxslpuGERSrWyDR9TRSGgjhQFU9RKNdRUGZOx2kaaqkUi2kUi1Vy4UwcbvjVSLj9U4SCvVz9dVpLrrobgDyeU+VJVOybvL5hYuApgVoa7ucQ4e+zdDQ4zQ1rWZi4kWkzBAMrrUtFJsVQcMIimnmGBh4lCee+Dix2D5CoY1cffW/4nZfCpxZjR4plaJfJcz4eF/Fcp377vscHs+NZZHxeqO0tR2scgjrupN0OlwlMpZDOABUB9IJIejpuZHVq3/Cc899lh07Ps2HP+xk1arXEom8q+Er49nYQAMJysjI0zz++Efwervo6rqO0dFn+NWv/gCX68ts2+atcQZ8QTKpEI2uJhpdXbVG09JVIuP1RolETtLePlV/1zQdMxzC6XQYIVq4+up/pqnpQpLJY6xefZKWltsYHg7WsO02NstHQwiKrmc5ceLH5HITXHHF51i9+o0cOfJdHn/8owwMPEo0ejHt7UdQFH3RHauFgpdYzEss1lW13OHIz/DR+P2jtLYeKm9TGka++OLzSaevpafneU6ejNjWic2KoSEEpRQUJoSDYHA9DodGJHIBiuIkkTjK2NhraG8/gqZlyeWWJ5bDSqDdRiLRVrXccgjHyiJjOYejRCInEEIu6ciSjc1i0xC/ZisozJoTI0SpgJY17JpO93PyZDum+fplE5NTYTmEm0mlmquWC2HiciXrss02NmdKQwjKQpic7FnuJpwWUirlKFobm5VCw842LqFpfhTFHnK1sakHGkJQVNWNy9WElJJ8PgpALhcFZDEozLu8DbSxsQEaRFA0LUh7+1WAZGjoCZLJExw9ejeGkbODwmxs6oiG8KEIIVi9+iYGBn7Kjh1/xVNP/RGq6mPDhnezdu3b7WFXG5s6oSEEBcDjaefqq/+FlpZLSKVO4PP1sGHDe+0p/zY2dUTDCIoQAre7mQsv/MRyN8XGxmYOGsKHYmNj0xjYgmJjY1MzbEGxsbGpGbag2NjY1AxbUGxsbGqGLSg2NjY1wxYUGxubmrEgQRFC3CiE2CeEOCiE+OPFbpSNjU1jMq+gCCEcwP8DXgdsBd4phFi8gjU2NjYNi5ivyJQQ4irgM1LK1xbf/wmAlPKzc++jyGBwXS3bueQkk8fw+9csdzPOinT6GL29jX0Nx44dY80a+xqWm0OHDmGa5ryT5hYiKG8DbpRSfqj4/j3AFVLKj0zb7jbgtuLb84FdZ9LwOqIFGFvuRpwl9jXUByvhGjZJKQPzbVSzuTxSyi8BXwIQQjwjpbysVsdeDuxrqA/sa6gPhBDPLGS7hThl+4FVFe97istsbGxsqliIoDwNbBBC9AkhnMA7gLsXt1k2NjaNyLxdHimlLoT4CPBjwAF8RUr50jy7fakWjVtm7GuoD+xrqA8WdA3zOmVtbGxsFoodKWtjY1MzbEGxsbGpGTUVlJUQoi+E+IoQYkQI0ZBxNEKIVUKInwohdgshXhJCfGy523S6CCHcQoinhBDPF6/hL5a7TWeKEMIhhHhOCHHPcrflTBFCHBVCvCiE2Dnf8HHNfCjFEP39wKuBk1ijQ++UUu6uyQmWCCHEy4Ek8HUp5fnL3Z7TRQjRCXRKKXcIIQLAs8CbGul7EFYZA5+UMimE0IDHgI9JKX+1zE07bYQQnwAuA4JSyjcsd3vOBCHEUeAyKeW8wXm1tFAuBw5KKQ9LKfPAt4Fbanj8JUFK+XNgYrnbcaZIKQellDuKrxPAHqB7eVt1ekiLZPGtVnw03OiBEKIHuAn47+Vuy1JRS0HpBk5UvD9Jg/2QVxpCiF7gYuDJZW7KaVPsKuwERoCHpJQNdw3APwOfBMxlbsfZIoEHhRDPFqfYzIntlF2hCCH8wJ3Ax6WU8eVuz+kipTSklNuwIrMvF0I0VPdTCPEGYERK+exyt6UGvExKeQlWxoHfKboFZqWWgmKH6NcJRb/DncC3pJTfX+72nA1Sykngp8CNy9yU0+Ua4I1F/8O3gRuEEN9c3iadGVLK/uLzCHAXlntjVmopKHaIfh1QdGh+GdgjpfzH5W7PmSCEaBVChIuvPViO/r3L2qjTREr5J1LKHillL9a98BMp5buXuVmnjRDCV3TuI4TwAa/hFJkEaiYoUkodKIXo7wG+s4AQ/bpDCHEH8EtgkxDipBDig8vdptPkGuA9WP+IO4uP1y93o06TTuCnQogXsP6oHpJSNuywa4PTDjwmhHgeeAq4V0r5wFwb26H3NjY2NcN2ytrY2NQMW1BsbGxqhi0oNjY2NcMWFBsbm5phC4qNjU3NsAXFxsamZtiCYmNjUzP+f4w0drTPOm98AAAAAElFTkSuQmCC",
            "text/plain": [
              "<Figure size 432x288 with 1 Axes>"
            ]
          },
          "metadata": {
            "needs_background": "light"
          },
          "output_type": "display_data"
        }
      ],
      "source": [
        "# Plot trajectory\n",
        "img = plt.imread(\"safe_grid_casestudy_final.png\")\n",
        "f2 = plt.figure()\n",
        "plt.imshow(img,extent=[0,5,0,5])\n",
        "dim = np.size(tempPos,1)\n",
        "plt.plot(tempPos[0,np.arange(dim-50,dim)],tempPos[1,np.arange(dim-50,dim)],\"yellow\",alpha=0.4)\n",
        "f2.tight_layout()\n",
        "f2.savefig(\"safe_grid_casestudy.png\", bbox_inches='tight', dpi=1000)"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 12,
      "metadata": {
        "id": "m9-VjVBp8HN3"
      },
      "outputs": [
        {
          "data": {
            "image/png": 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",
            "text/plain": [
              "<Figure size 432x288 with 1 Axes>"
            ]
          },
          "metadata": {
            "needs_background": "light"
          },
          "output_type": "display_data"
        }
      ],
      "source": [
        "# Plot trajectory\n",
        "img = plt.imread(\"safe_grid_casestudy_final.png\")\n",
        "f2 = plt.figure()\n",
        "plt.imshow(img,extent=[0,5,0,5])\n",
        "dim = np.size(tempPos,1)\n",
        "plt.plot(tempPos[0,np.arange(dim-50,dim)],tempPos[1,np.arange(dim-50,dim)],\"yellow\",alpha=0.4)\n",
        "f2.tight_layout()\n",
        "f2.savefig(\"safe_grid_casestudy.png\", bbox_inches='tight', dpi=1000)"
      ]
    }
  ],
  "metadata": {
    "accelerator": "GPU",
    "colab": {
      "collapsed_sections": [],
      "name": "Paper Case Study SGP.ipynb",
      "provenance": []
    },
    "kernelspec": {
      "display_name": "Python 3",
      "language": "python",
      "name": "python3"
    },
    "language_info": {
      "codemirror_mode": {
        "name": "ipython",
        "version": 3
      },
      "file_extension": ".py",
      "mimetype": "text/x-python",
      "name": "python",
      "nbconvert_exporter": "python",
      "pygments_lexer": "ipython3",
      "version": "3.8.10"
    }
  },
  "nbformat": 4,
  "nbformat_minor": 0
}