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Action Cook Prec: CleanHands Effects: Dinner Action Wrap Prec: Quiet Effects: Present Action Carry Prec: Effects: ~Garbage AND ~CleanHands Action Dolly Prec: Effects: ~Garbage AND ~Quiet Initial State: Garbage CleanHands Quiet
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage Clean-Hands Quiet ~Dinner ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present ??
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap
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~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap
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~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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Extract Plan for Present ^ ~Garbage at level S1 on next slide
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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Extract Plan for Present ^ ~Garbage at level S1 Answer: Carry and Wrap in parallel
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Extract Plan for Present ^ ~Garbage ^ Dinner at level S1 on next slide FAIL!!!
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S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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Extract Plan for Present ^ ~Garbage ^ Dinner at level S2 on next slide
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S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
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Extract Plan for Present ^ ~Garbage ^ Dinner at level S2 Answer: Wrap and Cook in parallel then Carry OR Answer: Cook then Carry and Wrap in parallel
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Example: One-level plan exists for (P AND Q) but P and Q are mutex at S1 This is a very unusual case Action Act-1: Prec: Effects: P AND W Action Act-2: Prec: Effects: Q AND ~W
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S0 A0 Act-1 Act-2 S1 P W ~W Q
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S0 A0 Act-1 Act-2 S1 P W ~W Q
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S0 A0 Act-1 Act-2 S1 P W ~W Q
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S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q
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S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q
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S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q
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