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Regression
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n
th
iteration
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Step1:
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s1 = on(A, Table) on(B, Table) on(C, Table) ^ clear(A) ^ clear(B) ^ clear
(C) ^ holding(D)
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Step 2:
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Applicable actions: pickup(D), unstack(D,C)
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Step 3:
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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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