Datasets:

NanQiangHF

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BlocksWorldTrainingDataFull3-8

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GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (clear b2) (holding b1) (clear b3) (on-table b3)

ACTION: (stack b1 b3) NEXT STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (holding b2) (on-table b3)

GOAL: (on b2 b3) (holding b1) (on-table b3) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b3) (clear b2)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (clear b3) (holding b2) (clear b1) (on-table b3)

GOAL: (on b2 b3) (holding b1) (on-table b3) STATE: (on-table b1) (clear b3) (holding b2) (clear b1) (on-table b3)

ACTION: (stack b2 b3) NEXT STATE: (on-table b1) (on b2 b3) (arm-empty) (on-table b3) (clear b1)

GOAL: (on b2 b3) (holding b1) (on-table b3) STATE: (on-table b1) (on b2 b3) (arm-empty) (on-table b3) (clear b1)

ACTION: (pick-up b1) NEXT STATE: (on b2 b3) (holding b1) (on-table b3)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on b2 b3) (arm-empty) (clear b1) (on-table b3) (on b1 b2)

ACTION: (unstack b1 b2) NEXT STATE: (on b2 b3) (clear b2) (holding b1) (on-table b3)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on b2 b3) (clear b2) (holding b1) (on-table b3)

ACTION: (put-down b1) NEXT STATE: (on b2 b3) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b2)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on b2 b3) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b2)

ACTION: (unstack b2 b3) NEXT STATE: (on-table b1) (clear b3) (holding b2) (clear b1) (on-table b3)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (clear b3) (holding b2) (clear b1) (on-table b3)

ACTION: (put-down b2) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (arm-empty) (on-table b3) (clear b1) (clear b3)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (clear b2) (arm-empty) (on-table b3) (clear b1) (clear b3)

ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b2) NEXT STATE: (on-table b1) (on-table b2) (on b3 b2) (arm-empty) (clear b1)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (on b3 b2) (arm-empty) (clear b1)

ACTION: (pick-up b1) NEXT STATE: (on-table b2) (holding b1) (on b3 b2)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b3) (clear b2)

ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (on b3 b1) (holding b2)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b2) (on b3 b1) (arm-empty) (clear b3) (on b1 b2)

ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (holding b3) (clear b1) (on b1 b2)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b2) (holding b3) (clear b1) (on b1 b2)

ACTION: (put-down b3) NEXT STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (clear b3) (on b1 b2)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (clear b3) (on b1 b2)

ACTION: (unstack b1 b2) NEXT STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

ACTION: (put-down b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (arm-empty) (clear b1) (clear b3) (on-table b3)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (clear b2) (arm-empty) (clear b1) (clear b3) (on-table b3)

ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b2) NEXT STATE: (on-table b1) (on-table b2) (on b3 b2) (arm-empty) (clear b1)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (on b3 b2) (arm-empty) (clear b1)

ACTION: (pick-up b1) NEXT STATE: (on-table b2) (holding b1) (on b3 b2)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (clear b3) (on b1 b2)

ACTION: (unstack b1 b2) NEXT STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

ACTION: (stack b1 b3) NEXT STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (holding b2) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (clear b3) (on b1 b2)

ACTION: (unstack b1 b2) NEXT STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

ACTION: (stack b1 b3) NEXT STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (holding b2) (on-table b3)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b2) (arm-empty) (on b3 b2) (clear b1) (clear b3) (on-table b1)

ACTION: (unstack b3 b2) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (on b3 b1) (holding b2)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on b2 b1) (arm-empty) (on b3 b2) (clear b3) (on-table b1)

ACTION: (unstack b3 b2) NEXT STATE: (on b2 b1) (on-table b1) (clear b2) (holding b3)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on b2 b1) (on-table b1) (clear b2) (holding b3)

ACTION: (put-down b3) NEXT STATE: (on b2 b1) (arm-empty) (clear b3) (on-table b3) (on-table b1) (clear b2)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on b2 b1) (arm-empty) (clear b3) (on-table b3) (on-table b1) (clear b2)

ACTION: (unstack b2 b1) NEXT STATE: (on-table b1) (holding b2) (clear b1) (clear b3) (on-table b3)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (holding b2) (clear b1) (clear b3) (on-table b3)

ACTION: (put-down b2) NEXT STATE: (on-table b1) (clear b3) (on-table b2) (clear b2) (arm-empty) (on-table b3) (clear b1)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (clear b3) (on-table b2) (clear b2) (arm-empty) (on-table b3) (clear b1)

ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (on b3 b1) (holding b2)

GOAL: (on-table b1) (on b2 b3) (on b3 b1) (arm-empty) STATE: (on-table b2) (on b3 b1) (arm-empty) (clear b3) (on-table b1) (clear b2)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (on b3 b1) (clear b3) (holding b2)

GOAL: (on-table b1) (on b2 b3) (on b3 b1) (arm-empty) STATE: (on-table b1) (on b3 b1) (clear b3) (holding b2)

ACTION: (stack b2 b3) NEXT STATE: (on-table b1) (on b2 b3) (on b3 b1) (arm-empty)

GOAL: (on b2 b3) (holding b1) (on-table b3) STATE: (on b2 b1) (arm-empty) (clear b3) (on-table b3) (on-table b1) (clear b2)

ACTION: (unstack b2 b1) NEXT STATE: (on-table b1) (holding b2) (clear b1) (clear b3) (on-table b3)

GOAL: (on b2 b3) (holding b1) (on-table b3) STATE: (on-table b1) (holding b2) (clear b1) (clear b3) (on-table b3)

ACTION: (stack b2 b3) NEXT STATE: (on-table b1) (on b2 b3) (arm-empty) (on-table b3) (clear b1)

GOAL: (on b2 b3) (holding b1) (on-table b3) STATE: (on-table b1) (on b2 b3) (arm-empty) (on-table b3) (clear b1)

ACTION: (pick-up b1) NEXT STATE: (on b2 b3) (holding b1) (on-table b3)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b3) (clear b2)

ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b2) NEXT STATE: (on-table b1) (on-table b2) (on b3 b2) (arm-empty) (clear b1)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (on b3 b2) (arm-empty) (clear b1)

ACTION: (pick-up b1) NEXT STATE: (on-table b2) (holding b1) (on b3 b2)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b3) (clear b2)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (clear b3) (holding b2) (clear b1) (on-table b3)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b1) (clear b3) (holding b2) (clear b1) (on-table b3)

ACTION: (stack b2 b1) NEXT STATE: (on-table b1) (on b2 b1) (arm-empty) (on-table b3) (clear b3)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b1) (on b2 b1) (arm-empty) (on-table b3) (clear b3)

ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on b2 b1) (holding b3)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b2) (arm-empty) (on b1 b3) (on b3 b2) (clear b1)

ACTION: (unstack b1 b3) NEXT STATE: (clear b3) (on-table b2) (holding b1) (on b3 b2)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (clear b3) (on-table b2) (holding b1) (on b3 b2)

ACTION: (put-down b1) NEXT STATE: (on-table b2) (on b3 b2) (arm-empty) (clear b3) (clear b1) (on-table b1)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b2) (on b3 b2) (arm-empty) (clear b3) (clear b1) (on-table b1)

ACTION: (unstack b3 b2) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (put-down b3) NEXT STATE: (on-table b1) (clear b3) (on-table b2) (clear b2) (arm-empty) (clear b1) (on-table b3)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b1) (clear b3) (on-table b2) (clear b2) (arm-empty) (clear b1) (on-table b3)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (holding b2) (clear b1) (clear b3) (on-table b3)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b1) (holding b2) (clear b1) (clear b3) (on-table b3)

ACTION: (stack b2 b1) NEXT STATE: (on-table b1) (clear b3) (on b2 b1) (arm-empty) (on-table b3)

GOAL: (on-table b1) (on b2 b1) (holding b3) STATE: (on-table b1) (clear b3) (on b2 b1) (arm-empty) (on-table b3)

ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on b2 b1) (holding b3)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b2) (arm-empty) (on b1 b3) (on b3 b2) (clear b1)

ACTION: (unstack b1 b3) NEXT STATE: (clear b3) (on-table b2) (holding b1) (on b3 b2)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (clear b3) (on-table b2) (holding b1) (on b3 b2)

ACTION: (put-down b1) NEXT STATE: (on-table b2) (on b3 b2) (arm-empty) (clear b3) (clear b1) (on-table b1)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b2) (on b3 b2) (arm-empty) (clear b3) (clear b1) (on-table b1)

ACTION: (unstack b3 b2) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (on b3 b1) (holding b2)

GOAL: (on b2 b1) (arm-empty) (on b1 b3) (on-table b3) STATE: (on-table b2) (arm-empty) (on b1 b3) (clear b1) (on-table b3) (clear b2)

ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (holding b2) (clear b1) (on-table b3)

GOAL: (on b2 b1) (arm-empty) (on b1 b3) (on-table b3) STATE: (on b1 b3) (holding b2) (clear b1) (on-table b3)

ACTION: (stack b2 b1) NEXT STATE: (on b2 b1) (arm-empty) (on b1 b3) (on-table b3)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on b2 b3) (on b3 b1) (arm-empty) (on-table b1) (clear b2)

ACTION: (unstack b2 b3) NEXT STATE: (on-table b1) (on b3 b1) (clear b3) (holding b2)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on-table b1) (on b3 b1) (clear b3) (holding b2)

ACTION: (put-down b2) NEXT STATE: (on-table b2) (on b3 b1) (arm-empty) (clear b3) (on-table b1) (clear b2)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on-table b2) (on b3 b1) (arm-empty) (clear b3) (on-table b1) (clear b2)

ACTION: (unstack b3 b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (put-down b3) NEXT STATE: (on-table b1) (clear b3) (on-table b2) (clear b2) (arm-empty) (clear b1) (on-table b3)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on-table b1) (clear b3) (on-table b2) (clear b2) (arm-empty) (clear b1) (on-table b3)

ACTION: (pick-up b1) NEXT STATE: (on-table b2) (clear b2) (holding b1) (clear b3) (on-table b3)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on-table b2) (clear b2) (holding b1) (clear b3) (on-table b3)

ACTION: (stack b1 b2) NEXT STATE: (on-table b2) (arm-empty) (on b1 b2) (clear b3) (on-table b3)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on-table b2) (arm-empty) (on b1 b2) (clear b3) (on-table b3)

ACTION: (pick-up b3) NEXT STATE: (on-table b2) (holding b3) (on b1 b2)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on b2 b3) (on b3 b1) (arm-empty) (on-table b1) (clear b2)

ACTION: (unstack b2 b3) NEXT STATE: (on-table b1) (on b3 b1) (clear b3) (holding b2)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on b3 b1) (clear b3) (holding b2)

ACTION: (put-down b2) NEXT STATE: (on-table b2) (on b3 b1) (arm-empty) (clear b3) (on-table b1) (clear b2)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b2) (on b3 b1) (arm-empty) (clear b3) (on-table b1) (clear b2)

ACTION: (unstack b3 b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b2) NEXT STATE: (on-table b1) (on-table b2) (on b3 b2) (arm-empty) (clear b1)

GOAL: (on-table b2) (holding b1) (on b3 b2) STATE: (on-table b1) (on-table b2) (on b3 b2) (arm-empty) (clear b1)

ACTION: (pick-up b1) NEXT STATE: (on-table b2) (holding b1) (on b3 b2)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (on b3 b1) (arm-empty) (clear b3) (on b1 b2)

ACTION: (unstack b3 b1) NEXT STATE: (on-table b2) (holding b3) (clear b1) (on b1 b2)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (holding b3) (clear b1) (on b1 b2)

ACTION: (put-down b3) NEXT STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (clear b3) (on b1 b2)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (clear b3) (on b1 b2)

ACTION: (unstack b1 b2) NEXT STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

ACTION: (stack b1 b3) NEXT STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (holding b2) (on-table b3)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b2) (arm-empty) (clear b1) (on-table b3) (clear b3) (on b1 b2)

ACTION: (unstack b1 b2) NEXT STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

ACTION: (put-down b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (arm-empty) (clear b1) (clear b3) (on-table b3)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (arm-empty) (clear b1) (clear b3) (on-table b3)

ACTION: (pick-up b3) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (holding b3) (clear b1)

ACTION: (stack b3 b1) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

GOAL: (on-table b1) (on b3 b1) (holding b2) STATE: (on-table b1) (on-table b2) (clear b2) (on b3 b1) (arm-empty)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (on b3 b1) (holding b2)

GOAL: (on b2 b3) (arm-empty) (on-table b3) (on b1 b2) STATE: (on b2 b3) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b2)

ACTION: (pick-up b1) NEXT STATE: (on b2 b3) (clear b2) (holding b1) (on-table b3)

GOAL: (on b2 b3) (arm-empty) (on-table b3) (on b1 b2) STATE: (on b2 b3) (clear b2) (holding b1) (on-table b3)

ACTION: (stack b1 b2) NEXT STATE: (on b2 b3) (arm-empty) (on-table b3) (on b1 b2)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on b2 b3) (arm-empty) (clear b1) (on-table b3) (on b1 b2)

ACTION: (unstack b1 b2) NEXT STATE: (on b2 b3) (clear b2) (holding b1) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on b2 b3) (clear b2) (holding b1) (on-table b3)

ACTION: (put-down b1) NEXT STATE: (on b2 b3) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b2)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on b2 b3) (arm-empty) (clear b1) (on-table b3) (on-table b1) (clear b2)

ACTION: (unstack b2 b3) NEXT STATE: (on-table b1) (clear b3) (holding b2) (clear b1) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b1) (clear b3) (holding b2) (clear b1) (on-table b3)

ACTION: (put-down b2) NEXT STATE: (on-table b1) (on-table b2) (clear b2) (arm-empty) (on-table b3) (clear b1) (clear b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b1) (on-table b2) (clear b2) (arm-empty) (on-table b3) (clear b1) (clear b3)

ACTION: (pick-up b1) NEXT STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

ACTION: (stack b1 b3) NEXT STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

GOAL: (on b1 b3) (holding b2) (on-table b3) STATE: (on-table b2) (clear b2) (arm-empty) (on b1 b3) (on-table b3)

ACTION: (pick-up b2) NEXT STATE: (on b1 b3) (holding b2) (on-table b3)

GOAL: (on-table b1) (on b2 b3) (on b3 b1) (arm-empty) STATE: (on-table b2) (on b3 b1) (arm-empty) (clear b3) (on-table b1) (clear b2)

ACTION: (pick-up b2) NEXT STATE: (on-table b1) (on b3 b1) (clear b3) (holding b2)

GOAL: (on-table b1) (on b2 b3) (on b3 b1) (arm-empty) STATE: (on-table b1) (on b3 b1) (clear b3) (holding b2)

ACTION: (stack b2 b3) NEXT STATE: (on-table b1) (on b2 b3) (on b3 b1) (arm-empty)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on b2 b1) (arm-empty) (on b1 b3) (on-table b3) (clear b2)

ACTION: (unstack b2 b1) NEXT STATE: (on b1 b3) (holding b2) (clear b1) (on-table b3)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on b1 b3) (holding b2) (clear b1) (on-table b3)

ACTION: (put-down b2) NEXT STATE: (on-table b2) (arm-empty) (on b1 b3) (clear b1) (on-table b3) (clear b2)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (on-table b2) (arm-empty) (on b1 b3) (clear b1) (on-table b3) (clear b2)

ACTION: (unstack b1 b3) NEXT STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

GOAL: (on-table b2) (holding b3) (on b1 b2) STATE: (clear b3) (on-table b2) (clear b2) (holding b1) (on-table b3)

ACTION: (stack b1 b2) NEXT STATE: (on-table b2) (arm-empty) (on b1 b2) (clear b3) (on-table b3)