Talk to Parrot

Go To Pet Store Buy a Dog

Go To School Go To Class

Go To Supermarket Buy Tuna Fish

Start

Go To Sleep Buy Arugula

Read A Book Buy Milk

... Finish

Sit in Chair Sit Some More

Etc. Etc. ... ... Read A Book

At(p) Sells(p,x)

Buy(x)

Have(x)
 Start

Start Left Right

Sock Sock

LeftShoeOn, RightShoeOn LeftSockOn RightSockOn

Left Right
Finish Shoe Shoe

LeftShoeOn, RightShoeOn

Finish
 DEMOTION

Go(HWS)

Go(Home)

At(Home)

At(HWS)
Buy(Drill)

PROMOTION
At(Home)
Finish
 "Sussman anomaly" problem
A
C B
B A C

Start State Goal State

Clear(x) On(x,z) Clear(y) Clear(x) On(x,z)

PutOn(x,y) PutOnTable(x)

~On(x,z) ~Clear(y) ~On(x,z) Clear(z) On(x,Table)

Clear(z) On(x,y)

+ several inequality constraints

 C
START B A

On(C,A) On(A,Table) Cl(B) On(B,Table) Cl(C)

A
On(A,B) On(B,C)
B
FINISH C
 C
START B A

On(C,A) On(A,Table) Cl(B) On(B,Table) Cl(C)

Cl(B) On(B,z) Cl(C)

PutOn(B,C)

A
On(A,B) On(B,C)
B
FINISH C
 C
START B A

On(C,A) On(A,Table) Cl(B) On(B,Table) Cl(C)

PutOn(A,B)
clobbers Cl(B)
=> order after
PutOn(B,C)

Cl(B) On(B,z) Cl(C)

Cl(A) On(A,z) Cl(B)
PutOn(B,C)
PutOn(A,B)

A
On(A,B) On(B,C)
B
FINISH C
 C
START B A

On(C,A) On(A,Table) Cl(B) On(B,Table) Cl(C)

PutOn(A,B)
clobbers Cl(B)
=> order after
PutOn(B,C)
On(C,z) Cl(C)
PutOn(B,C)
PutOnTable(C) clobbers Cl(C)
=> order after
PutOnTable(C)
Cl(B) On(B,z) Cl(C)
Cl(A) On(A,z) Cl(B)
PutOn(B,C)
PutOn(A,B)

A
On(A,B) On(B,C)
B
FINISH C