1. Exercise 1: Rule-based Deductive Reasoning Blocks World ADCB (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

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 top and ?block2 at the bottom. For the purposes of this exercise, a pyramid is a structure in which blocks are stacked in order of ascending width from top to bottom.

3. Tests and Expected Output ADCB (ON-TABLE A T1) (ON-TABLE B T1) (ON-TABLE C T1) (ON-TABLE D T1) Scene 1

4. 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

5. Exercise 2: Skill Execution Blocks World ADC B D

6. 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)

7. 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

8. Test A C B BC A Type: (make-problem ((on a b))) (grun)

9. Exercise 3: Problem Solving Blocks World A C B BC A