graph G {
    compound="true"
    rankdir="TB"
    bgcolor="white"
    fontname="Tahoma"

    node [
        fixedsize="false"
        fontname="Tahoma"
        color="white"
        fillcolor="deepskyblue2"
        fontcolor="black"
        shape="box"
        style="filled"
        penwidth="1.0"
    ]
    edge [
        fontname="Arial"
        color="#DC143C"
        fontcolor="black"
        fontsize="12"
        arrowsize="0.5"
        penwidth="1.0"
    ]




    "affordance_seg" -- "rl/ppo" [label=" 196 ", penwidth="10", color="#DC143CFF"];
    "affordance_seg" -- "interaction_exploration" [label=" 142 ", penwidth="7", color="#DC143CC9"];
    "interaction_exploration" -- "rl/ppo" [label=" 122 ", penwidth="6", color="#DC143CB7"];

}