Hidden markov models actions Beliefs T(xi a Observations O(2/x states Discrete states actions and observations f(,, ,h(,, .) can now be written as tables (Somewhat) USeful for Localization in Topological aps p(x2x1a)=9 X3:p(xx1,a)=05 p(x4x1a)=05 A Observations can be feature as corridor features junction features, etc.Hidden Markov Models Ɣ Discrete states, actions and observations – f(•,•,•), h(•,•) can now be written as tables States x1 x2 T(xj |ai , xi ) Z2 b Beliefs 1 Observations Z1 a Actions 1 O(zj |xi ) b2 Z2 Hidden Observable (Somewhat) Useful for Localization in Topological Maps x1 x2: p(x2|x1,a)= .9 x3: p(x3|x1,a)=.05 x4: p(x4|x1,a)=.05 Observations can be features such as corridor features, junction features, etc