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Primitive abilities.

The agent has the following primitive sensations:

• Speed and direction of rotation for each of the left and right wheel motors are independently sensed. Sensed values for each motor range from 2 foot/sec of wheel circumference to -2 foot/sec of wheel circumference (in increments of 0.1).

• The bumpers in the front and the back can sense initial contact between the bumper and external object as well as reaction forces due to pushing. Sensor values range from 0 to 2, in increments of 1.

• The camera inputs an 9x7 array of RGB triplets, each triplet representing an average value over the corresponding portion of the camera's field of view.

The agent has the following primitive actions:

• Speed and direction of rotation for each of the left and right wheel motors are independently controlled. Actuation values for each motor increase/decrease by 1/10 foot/sec of wheel circumference in forward and reverse direction. Brakes can be applied to each wheel which can bring it to stop. We assume negligible acceleration/deceleration times.

• The light on top of each robot is either on, off, or flashing with a frequency of 1-4 Hz (in increments of 1 Hz).