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Talk to Parrot

Go To Pet Store Buy a Dog


Go To School Go To Class
Go To Supermarket Buy Tuna Fish
Start
Go To Sleep Buy Arugula
Read A Book Buy Milk
... Finish
Sit in Chair Sit Some More
Etc. Etc. ... ... Read A Book
At(p) Sells(p,x)
Buy(x)
Have(x)
Start
Start Left Right
Sock Sock
LeftShoeOn, RightShoeOn LeftSockOn RightSockOn
Left Right
Finish Shoe Shoe
LeftShoeOn, RightShoeOn
Finish
DEMOTION
Go(HWS)
Go(Home)
At(Home)
At(HWS)
Buy(Drill)
PROMOTION
At(Home)
Finish
"Sussman anomaly" problem
A
C B
B A C
Start State Goal State
Clear(x) On(x,z) Clear(y) Clear(x) On(x,z)
PutOn(x,y) PutOnTable(x)
~On(x,z) ~Clear(y) ~On(x,z) Clear(z) On(x,Table)
Clear(z) On(x,y)
+ several inequality constraints
C
START B A
On(C,A) On(A,Table) Cl(B) On(B,Table) Cl(C)
A
On(A,B) On(B,C)
B
FINISH C
C
START B A
On(C,A) On(A,Table) Cl(B) On(B,Table) Cl(C)
Cl(B) On(B,z) Cl(C)
PutOn(B,C)
A
On(A,B) On(B,C)
B
FINISH C
C
START B A
On(C,A) On(A,Table) Cl(B) On(B,Table) Cl(C)
PutOn(A,B)
clobbers Cl(B)
=> order after
PutOn(B,C)
Cl(B) On(B,z) Cl(C)
Cl(A) On(A,z) Cl(B)
PutOn(B,C)
PutOn(A,B)
A
On(A,B) On(B,C)
B
FINISH C
C
START B A
On(C,A) On(A,Table) Cl(B) On(B,Table) Cl(C)
PutOn(A,B)
clobbers Cl(B)
=> order after
PutOn(B,C)
On(C,z) Cl(C)
PutOn(B,C)
PutOnTable(C) clobbers Cl(C)
=> order after
PutOnTable(C)
Cl(B) On(B,z) Cl(C)
Cl(A) On(A,z) Cl(B)
PutOn(B,C)
PutOn(A,B)
A
On(A,B) On(B,C)
B
FINISH C

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