Limitations (cont.)

2) Consider the following program:

,
where the condition depends on the real number v that will be returned by sense action sense(q,v,t).

Even if information about possible results of sensing is available a priori, the off-line interpreter will need to consider both large non-deterministic programs and to compute an optimal policy from the given program.

We need another off-line interpreter to couple interpretation of Golog programs with execution of optimal policies.