Definition. Initial-state law [ftip-001Y]

With the spaces in Notation [ftip-001X], an initial-state law \(\rho _0(ds_0,do_0)\) is a probability law on \(\mathcal S\times \mathcal O\). It jointly samples the hidden initial state \(S_0\) and the first public observation \(O_0\).

Allowing a joint law covers both a deterministic rendering \(O_0=\operatorname {obs}(S_0)\) and a noisy initial observation. A fixed task instance can be included as a coordinate of \(O_0\); its sampling law is then the task law of Definition [ftip-001Q].