{

![0_image_0.png](0_image_0.png)

{

![0_image_1.png](0_image_1.png)

$$\operatorname{stack}$$
$$\mathrm{pickup}$$

$$\mathbf{s}\mathbf{t}\mathbf{a}\mathbf{c}\mathbf{k}$$
$$\mathbf{j}$$
$$\begin{array}{l l l}{{}}&{{}}&{{}}\\ {H}&{S}&{{}}\\ {}&{{}}&{{}}\end{array}\qquad\qquad\begin{array}{l l l}{{}}&{{}}&{{}}\\ {{}}&{{}}&{{}}\\ {S}&{{}}&{{}}\end{array}\qquad\begin{array}{l l l}{{}}&{{}}&{{}}\\ {{}}&{{}}&{{}}\\ {{}}&{{}}&{{}}\end{array}$$
$$H\ S\qquad\{o\ |\qquad o\ \subseteq S,a d d\ o\qquad G_{1}\ S\ \ /\ \emptyset\}$$

$$G_{1}\setminus S$$
$$\stackrel{\mathrm{N}}{\mathcal{O}}^{\prime},\,S,\mathcal{G}$$

$$B l o c k s w o r l d$$
H I Gripper
$$f_{\mathrm{d}}$$

favored actions greedy regression graphs

$\mathcal{H}_{\mathrm{EC}}$

effective subgraph

$re levance$
$$B l o c k s w o r l d$$
$$H\ {\mathcal{I}}$$
pickup in the next step