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A performance measure embodies the criterion for the success of an agent's behavior whereas a utility function maps a state onto a real number, which describes the associated degree of happiness. As a general rule, it is better to design performance measures according to what one actually wants in the environment, rather than according to how one thinks the agent should behave whereas utility function are programs to handle the uncertainty inherent in partially observable environment.

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Q: What is the Difference between performance measure and utility function?
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