Input Representation

• Description of initial state of world

  • Set of propositions:
  • ((block a) (block b) (block c) (on-table a) (on-table b) (clear a) (clear b) (clear c) (arm-empty))

• Description of goal (i.e. set of desired worlds)

  • Logical conjunction
  • Any world that satisfies the conjunction is a goal
  • (:and (on a b) (on b c)))

• Description of available actions

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