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Regression

    4 th iteration
    Step1:
      sn-2 = on(A, Table) on(D, Table) on(B, D) ^ clear(B) ^ clear(A) ^ clear (C) on(C, Table) ^ handEmpty
    Step 2:
      Applicable actions: putdown(C), putdown(A), stack(B,D)
    Step 3:
      sn-4=regress(sn-2, stack(B,D)) = sn-2 \ add(stack) ∪ pre(stack) = on(A, Table) ^ on(D, Table) on(B, D) ^ clear(B) ^ clear(A) ^ clear (C) on(C, Table) ^ handEmpty \ on(B,D) ^ clear(B) ^ handEmpty ∪ clear(D) ^ holding(B) = on (A, Table) on(D, Table) on(C, Table) ^ clear(A) ^ clear (C) ^ clear(D) ^ holding(B)

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