🧱 Blocks World & Multi-Armed Robots
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# 🧱 Blocks World & Multi-Armed Robots ## 1. 🎯 Learning Objectives - Model Blocks World with STRIPS predicates - Handle multi-armed robots with modified operators - Solve Sussman Anomaly with interleaved planning ## 2.
🧱 Blocks World & Multi-Armed Robots
1. 🎯 Learning Objectives
- Model Blocks World with STRIPS predicates
- Handle multi-armed robots with modified operators
- Solve Sussman Anomaly with interleaved planning
2. 📖 Core Content
3.1 Standard Blocks World
Predicates: onTable(x), on(x,y), clear(x), armEmpty, holding(x) Actions: stack, unstack, pickup, putdown
3.2 Multi-Armed Robots
Each arm independently: armEmpty(k), holding(k,x) Multiple actions can execute simultaneously if they use different arms.
3.3 Sussman Anomaly
Goal: on(A,B) ∧ on(B,C). Initial: A,B,C on table. Problem: achieving one subgoal may undo the other. Solution: Interleave: pickup(B), stack(B,C), pickup(A), stack(A,B).
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