Talk to Parrot Go To Pet Store Buy a Dog Go To School Go To Class - PDF document

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