Coffee Robot Decision Network

mermaid graph TD A((Pour Coffee)) --> B{Spill While Pouring?} B -- Yes --> C((Deliver Coffee)) B -- No --> D{Spill While Delivering?} C --> D D -- Yes --> E((Utility: Mess)) D -- No --> F((Utility: Success)) G[Improve Precision] -->|Reduces Spill Chance| B G --> D

```mermaid graph TD IP[ImprovePrecision] P[PourCoffee] D[DeliverCoffee]

S((Spill))
M((Mess))
U{Utility}

IP --> S
P --> S
D --> S
S --> M
M --> U

```

```mermaid

graph TD S((Spill)) P[Pour] M((Mess)) D[Deliver] IP[ImprovePrecision]

O[Outcome]
U{Utility}

P[Pour] --> D[Deliver]
P[Pour] --> S((Spill))
D[Deliver] --> IP[ImprovePrecision]
P[Pour] --> IP[ImprovePrecision]
%% IP[ImprovePrecision] --> P[Pour]
%% IP[ImprovePrecision] --> D[Deliver]
D[Deliver] --> S((Spill))
IP[ImprovePrecision] --> O[Outcome]
%% S((Spill)) --> IP[ImprovePrecision]
M((Mess)) --> IP[ImprovePrecision]
S((Spill)) --> M((Mess))
M((Mess)) --> O[Outcome]
O[Outcome] --> U{Utility}

```