Example Rules (Learned)

If Polished(x)@S &

~Initially-True(Polished(x))

Then

REJECT

Stepadd(Roll(x),Cylindrical(x)@s)

UCPOP

Prodigy

If (and (current-node node)

(candidate-goal node

(shape obj Cyl))

(candidate-goal node

(surface-condition obj

polished)))

Then: Prefer (shape obj cyl) to

(surface-condition obj polished)

Pruning rule

Preference rule