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Regression

    3 rd iteration
    Step1:
      sn-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:
      sn-3=regress(sn-1, unstack(C,A)) = sn-1 \ add(unstack) ∪ pre(unstack) = on (A, Table) on(D, Table) on(B, D) ^ clear(B) ^ clear(A) ^ holding(C) \ holding(C) ^ clear(A) ∪ clear(C) on(C, A) ^ handEmpty = on(A, Table) ^ on(D, Table) on(B, D) ^ clear(B) ^ clear (C) on(C, A)
      we are back in the goal state!

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