Exercise 1: Rule-based Deductive Reasoning

Blocks World

A DCB

(block A xpos 2 ypos 2 width 2 height 2 shade 1)(block B xpos 4 ypos 2 width 2 height 2 shade 1)(block C xpos 6 ypos 2 width 2 height 2 shade 1)(block D xpos 8 ypos 2 width 2 height 2 shade 1)(table T xpos 0 ypos 0 width 14 shade 2)(gripper GR holding nil)

2

Concepts to Define

1. (on ?block1 ?block2): ?block1 is on top of ?block2.2. (on-table ?block ?table): ?block is sitting on the ?table.3. (holding ?block): The gripper is holding ?block.4. (wider-than ?block1 ?block2): ?block1 is wider than ?block2.5. (pyramid ?block1 ?block2): There exists a pyramid of at least

two blocks, with ?block1 at the topand ?block2 at the bottom. For thepurposes of this exercise, a pyramid is

a structure in which blocks arestacked in order of ascending width

from top to bottom.

Tests and Expected Output

A DCB

(ON-TABLE A T1) (ON-TABLE B T1) (ON-TABLE C T1) (ON-TABLE D T1)

Scene 1

Tests and Expected Output

B

D

C

A

((PYRAMID A D) (PYRAMID B D) (PYRAMID C D) (WIDER-THAN B A) (WIDER-THAN C A) (WIDER-THAN C B) (WIDER-THAN D A) (WIDER-THAN D B) (WIDER-THAN D C) (ON-TABLE D T1) (ON A B) (ON B C) (ON C D))

Scene 7

Exercise 2: Skill Execution

Blocks World

A DC

B

D

Primitive Skills to Define

1. (unstack ?block): move ?block off of another block

2. (pickup ?block): move ?block off of a table

3. (stack ?block ?to): put ?block onto another block ?to

4. (putdown ?block): put ?block on a table

Available actions: (*grasp-and-raise ?block)(*place-and-ungrasp ?block ?to)

Complex Skills to Define

5. (make-clear ?block): make a situation where there is no other blocks on ?block

6. (lift-block ?block): make a situation where the gripper is holding ?block

7. (put-on ?block ?to): put ?block on another block ?to

8. (build-pyramid ?block1 ?block2): build a pyramid with ?block1 and ?block2

Test

A

C

B

B C

A

Type: (make-problem ((on a b)))(grun)

Exercise 3: Problem Solving

Blocks World

A

C

B

B C

A