This zip contains:

- `puo-supp.pdf`: more details about our paper;
- `visualization`: contains more visualization demonstrated in the supplemental material:
```
visualization/
    ├── B.1-detail_description/
    ├── B.2-function_estimation/
    ├── B.3-goal_based_planning/
    └── D-edge_side_model/
```
The visualization is performed via `html`. Each file contains an example.
