Discrete distribution represented as a dictionary. Can be sparse, in the sense that elements that are not explicitly contained in the diction

A mixture of two probability distributions, d1 and d2, with mixture parameter p. Probability of an element x under this distribution is

A generator with a fixed length. The generator tracks its number of calls, allowing it to terminate with one fewer call

Uniform distribution over a given finite one dimensional range

An external nonnegative function F(i1, ..., ik) -> 0 <= int External functions differ from streams in that their output isn't an object

Basic one-dimensional Gaussian.

Encodes the high-level logic for the manipulation system. This state machine receives a list of trajectories, and sends them to the robo

Encodes the high-level logic for the manipulation system. This state machine receives a list of Plans, and sends them to the robot in a

An external predicate P(i1, ..., ik) -> {False, True} External predicates do not make the closed world assumption

Generate new symbols guaranteed to be different from one another Optionally, supply a prefix for mnemonic purposes Call gensym("foo") to

Probability distribution over a discrete domain. This is a generic superclass; do not instantiate it. Any subclass has to provide meth

log d ~ Normal(mu, sigma) Note that in some references we use \rho = 1/\sigma^2