Planning with abstraction
Clear A
Clear B
On-Table A
On-Table B
Arm-Empty R*
On A B
Pick-up B R*
Clear A
Clear B
Holding A R*
On-Table A
On-Table B
Holding B R*
Arm-Empty R*
Stack A B R*
Pick-up A R*
Put-down A R*
Initial State Level P-0
Goal State Level P-2
Level A-0
Level P-1
Level A-1
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