% ------------------------------------------------------------------------------
% Copyright (c) 2010, 2021 Contributors to the Eclipse Foundation
%
% See the NOTICE file(s) distributed with this work for additional
% information regarding copyright ownership.
%
% This program and the accompanying materials are made available under the terms
% of the MIT License which is available at https://opensource.org/licenses/MIT
%
% SPDX-License-Identifier: MIT
% ------------------------------------------------------------------------------
\documentclass{article}
\usepackage{tikz}
\usepackage{verbatim}

\usepackage[paperwidth=40in, paperheight=20in]{geometry}

\usetikzlibrary{arrows, automata, positioning}
\begin{document}
\pagestyle{empty}

\definecolor{se-blue}{HTML}{D0D5FF}

\newcommand{\state}[2]{\begin{tabular}{@{}c@{}}#1\\#2\end{tabular}}

\begin{tikzpicture}[
  ->,>=stealth',auto,node distance=2.5cm,thick,
  every node/.style={font=\sffamily\small},
  every state/.style={draw=se-blue,thick,top color=white,
                      bottom color=se-blue!75,initial text=},
  accepting/.style={accepting by arrow,accepting text=\ldots},
  every edge/.style={draw=black!50}]

  \node[state, initial]   (hu)                                {h/u};
  \node[state]            (au) [                 right of=hu] {a/u};
  \node[state]            (gh) [above =1cm of au,right of=au] {g/h};
  \node[state]            (gt) [below =1cm of au,right of=au] {g/t};

  \path[every node/.style={font=\sffamily\normalsize,outer sep=0pt}]
    (hu) edge[]           node[]                    {toss}     (au)
    (au) edge[]           node[sloped,anchor=south] {land}     (gh)
    (au) edge[]           node[sloped,anchor=north] {land}     (gt)
    (gh) edge[bend right] node[sloped,anchor=north] {pick\_up} (hu)
    (gt) edge[bend left]  node[sloped,anchor=south] {pick\_up} (hu)
  ;

\end{tikzpicture}
\end{document}
