PPT Slide

onT-A

onT-B

cl-A

cl-B

he

h-A

h-B

~cl-A

~cl-B

~he

Pick-A

Pick-B

Optimistic Projection of Reachability

Init:

Ontable(A),Ontable(B),

Clear(A), Clear(B), hand-empty

Goal:

~clear(B), hand-empty

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