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Regression

    n th iteration
    Step1:
      s1 = on(A, Table) on(B, Table) on(C, Table) ^ clear(A) ^ clear(B) ^ clear (C) ^ holding(D)
    Step 2:
      Applicable actions: pickup(D), unstack(D,C)
    Step 3:
      s0=regress(s1, unstack(D,C)) = s1 \ add(unstack) ∪ pre(unstack) =on(A, Table) on(B, Table) on(C, Table) ^ clear(A) ^ clear(B) ^ clear (C) ^ holding(D) \ holding(D) ^ clear(C) ∪ on(D,C) ^ clear(D) ^ handEmpty = on (A, Table) on(B, Table) on(C, Table) on(D, C) ^ clear(A) ^ clear(B) ^ clear(D) ^ handEmpty

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