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<?xml version="1.0" encoding="UTF-8"?>
<domain>
<!-- NLU model -->
<model trigger="u_u">
<rule>
<case>
<condition operator="or">
<if var="u_u" value="turn * left" relation="contains" />
<if var="u_u" value="move * left" relation="contains" />
<if var="u_u" value="go * left" relation="contains" />
</condition>
<effect prob="1">
<set var="a_u" value="Request(Left)" />
</effect>
</case>
<case>
<condition operator="or">
<if var="u_u" value="turn * right" relation="contains" />
<if var="u_u" value="move * right" relation="contains" />
<if var="u_u" value="go * right" relation="contains" />
</condition>
<effect prob="1">
<set var="a_u" value="Request(Right)" />
</effect>
</case>
<case>
<condition operator="or">
<if var="u_u" value="move * forward" relation="contains" />
<if var="u_u" value="go * forward" relation="contains" />
<if var="u_u" value="move * forwards" relation="contains" />
<if var="u_u" value="go * forwards" relation="contains" />
<if var="u_u" value="go * straight" relation="contains" />
</condition>
<effect prob="1">
<set var="a_u" value="Request(Forward)" />
</effect>
</case>
<case>
<condition operator="or">
<if var="u_u" value="move * backward" relation="contains" />
<if var="u_u" value="go * backward" relation="contains" />
</condition>
<effect prob="1">
<set var="a_u" value="Request(Backward)" />
</effect>
</case>
<case>
<condition>
<if var="u_u" value="stop" relation="contains" />
</condition>
<effect prob="1">
<set var="a_u" value="Request(Stop)" />
</effect>
</case>
</rule>
</model>
<!-- Action selection model -->
<model trigger="a_u">
<rule id="movement">
<case>
<condition>
<if var="a_u" value="Request({X})" />
</condition>
<effect util="1">
<set var="a_m" value="Move({X})" />
</effect>
</case>
</rule>
<rule id ="negative">
<case>
<effect util="-0.5">
<set var="a_m" value="Move(*)" />
</effect>
</case>
</rule>
<rule id="repeat">
<case>
<effect util="0.2">
<set var="a_m" value="AskRepeat" />
</effect>
</case>
</rule>
</model>
<!-- NLG model -->
<model trigger="a_m">
<rule>
<case>
<condition>
<if var="a_m" value="Move({X})" />
</condition>
<effect util="1">
<set var="u_m" value="Ok, moving {X}" />
</effect>
</case>
<case>
<condition>
<if var="a_m" value="AskRepeat" />
</condition>
<effect util="1">
<set var="u_m" value="Sorry, could you repeat?" />
</effect>
</case>
</rule>
</model>
<!-- Prediction model for the next user dialogue act -->
<model trigger="a_m">
<rule>
<case>
<condition>
<if var="a_m" value="AskRepeat" />
</condition>
<effect prob="0.95">
<set var="a_u^p" value="{a_u}" />
</effect>
</case>
</rule>
</model>
</domain>
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