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install your local pomdp solver
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download dataset at https://www.eecs.tufts.edu/~gtatiya/pages/2014/CY101Dataset.html
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remove no_object from sensorimotor feature files
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create a dataset directory and copy all feature files into it
mkdir data/cy101/normalized_data_without_noobject
run online predicate learning simulation
python learning_10pred.py 'YOUR_LOCAL_POMDP_SOL_PATH'