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STRIPS
-
result(s
,
‹a›
) = (
s
∪
add(a)) \ del(a)
-
= (
on(A
, B) ^
handEmpty
^
clear(A
)
∪
holding(x
) ^
clear(y
)) \
on(x
,
y
) ^
handEmpty
^
clear(x
)
-
=
holding(A
) ^
clear(B
)
-
Precondition
on(x
,
y
) ^
handEmpty
^
clear(x
)
is fulfilled in state
s
=
on(A
, B) ^
handEmpty
^
clear(A
)
-
For convenience let’s denote
result(s
,
‹a›
)
with
s1
-
Given a second action
a1
-
action
a1 =
stack
(x,y)
-
Preconditions
: hoding(x) ^ clear(y)
-
Add List
: on(x,y) ^ handEmpty ^ clear(x)
-
Delete List
: holding(x) ^ clear(y)
Speaker notes:
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