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Regression

    Step 3:

      sn-1=regress(G, stack(C,A)) = G \ add(stack ) ∪ pre(stack ) = on(A, Table) ^ on(D, Table) ^ on(C, A) ^ on(B,D) ^ clear(C) ^ clear(B) ^ handEmpty \ on(C,A) ^ handEmpty ^ clear(C) ∪ holding(C) ^ clear(A) = on(A, Table) ^ on(D, Table) ^ on(B, D) ^ clear(B) ^ clear(A) ^ holding(C)


      sn-2=regress(G, stack(B,D)) = G \ add(stack ) ∪ pre(stack ) = on(A, Table) ^ on(D, Table) ^ on(C, A) ^ on(B,D) ^ clear(C) ^ clear(B) ^ handEmpty \ on(B,D) ^ handEmpty ^ clear(B) ∪ holding(B) ^ clear(D) = on(A, Table) ^ on(D, Table) ^ on(C, A) ^ clear(C) ^ clear(D) ^ holding(B)


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