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Regression

    2 nd iteration
    Step1:
      s n-1 = on(A, Table) on(D, Table) on(B, D) ^ clear(B) ^ clear(A) ^ holding (C)
    Step 2:
      Applicable actions: pickup(C) , unstack(C,A)
    Step 3:
      s n-2 =regress(s n-1 , pickup(C)) = s n-1 \ add(pickup) ∪ pre(pickup) =on(A, Table) on(D, Table) on(B, D) ^ clear(B) ^ clear(A) ^ holding(C) \ holding (C) ∪ clear(C) on(C, Table) ^ handEmpty = on(A, Table) on(D, Table) ^ on(B, D) ^ clear(B) ^ clear(A) ^ clear (C) on(C, Table) ^ handEmpty

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