Blocks	Input examples		Possible plan
	Initial State	Goal State
1	OnTable(1), Clear(1), White(1), ArmEmpty.	Clear(1), White(1), Holding(1).	pickup(1).
1	Clear(1), Black(1), Holding(1).	OnTable(1), Clear(1), Black(1), ArmEmpty.	putdown(1).
2	On(1, 2), OnTable(2), Clear(1), Black(1), Black(2), ArmEmpty.	On(2, 1), OnTable(1), Clear(2), Black(1), Black(2), ArmEmpty.	unstack(1,2) - putdown(1) - pickup(2) - stack(2,1).
2	On(1, 2), OnTable(2), Clear(1), Black(1), Black(2), ArmEmpty.	OnTable(1), OnTable(2), Clear(1), Clear(2), Black(1), Black(2), ArmEmpty.	unstack(1,2) - putdown(1).
2	OnTable(1), OnTable(2), Clear(1), Clear(2), Black(1), White(2), ArmEmpty.	OnTable(1), OnTable(2), Clear(1), Clear(2), Black(1), Black(2), ArmEmpty.	pickup(1) - stack(1,2) - assimilate(1,2) - unstack(1,2) - stack(1,2) - unstack(1,2) - putdown(1).
3	OnTable(1), On(2, 1), On(3, 2), White(1), Black(3), White(2), Clear(3), ArmEmpty.	OnTable(1),On(2, 1), On(3, 2), Black(1), Black(3), White(2), Clear(3), ArmEmpty.	unstack(3,2) - putdown(3) - unstack(2,1) - putdown(2) - pickup(3) - stack(3,1) - unstack(3,1) - stack(3,1) - assimilate(3,1) - pickup(2) - stack(2,3) - unstack(2,3) - stack(2,3) - unstack(2,3) - putdown(2) - unstack(3,1) - putdown(3) - pickup(2) - stack(2,1) - pickup(3) - stack(3,2).
3	OnTable(1), OnTable(2), OnTable(3), Clear(1), Clear(2), Clear(3), White(1), Black(3), White(2), ArmEmpty.	OnTable(1), On(2, 1), On(3, 2), Black(1), Black(3), White(2), Clear(3), ArmEmpty.	pickup(2) - stack(2,1) - unstack(2,1) - stack(2,3) - unstack(2,3) - stack(2,1) - pickup(3) - stack(3,2) - unstack(3,2) - stack(3,2) - unstack(3,2) - stack(3,2) - unstack(3,2) - putdown(3) - unstack(2,1) - stack(2,1) - pickup(3) - stack(3,2) - unstack(3,2) - putdown(3) - unstack(2,1) - putdown(2) - pickup(3) - stack(3,1) - assimilate(3,1) - unstack(3,1) - stack(3,2) - unstack(3,2) - putdown(3) - pickup(2) - stack(2,1) - pickup(3) - stack(3,2).
4	OnTable(1), OnTable(2), OnTable(3), OnTable(4), Clear(1), Clear(2), Clear(3), Clear(4), White(1), Black(3), White(2), White(4), ArmEmpty.	OnTable(1), On(2, 1), On(3, 2), OnTable(4), Black(1), Black(3), White(2), Black(4), Clear(3), ArmEmpty.	pickup(3) - stack(3,2) - unstack(3,2) - stack(3,1) - assimilate(3,1) - unstack(3,1) - stack(3,2) - unstack(3,2) - putdown(3) - pickup(2) - stack(2,1) - pickup(3) - stack(3,4) - assimilate(3,4) - unstack(3,4) - stack(3,2).
5	On(1, 2), On(3, 4), Clear(1), Clear(3), Clear(5), OnTable(2), OnTable(4), OnTable(5), Black(1), Black(2), White(3), White(4), White(5), ArmEmpty.	OnTable(1), OnTable(2), OnTable(3), OnTable(4), OnTable(5), Clear(1), Clear(2), Clear(3), Clear(4), Clear(5), Black(1), Black(2), Black(3), Black(4), Black(5), ArmEmpty.	unstack(1,2) - stack(1,5) - pickup(2) - stack(2,3) - assimilate(2,3) - unstack(2,3) - stack(2,3) - unstack(2,3) - stack(2,1) - unstack(3,4) - putdown(3) - unstack(2,1) - stack(2,4) - unstack(2,4) - stack(2,3) - unstack(2,3) - putdown(2) - unstack(1,5) - putdown(1) - pickup(1) - stack(1,4) - assimilate(1,4) - pickup(2) - stack(2,5) - assimilate(2,5) - unstack(1,4) - putdown(1) - unstack(2,5) - putdown(2).
6	On(2, 1), On(3, 2), On(4, 3), On(5, 4), On(6, 5), White(1), White(5), Black(3), Black(4), white(2), White(6), Clear(6), ArmEmpty, OnTable(1).	On(2, 1), On(3, 2), On(4, 3), On(5, 4), On(6, 5), Black(1), Black(5), Black(3), Black(4), Black(2), White(6), Clear(6), ArmEmpty, OnTable(1).	assimilate(3,2) - assimilate(2,1) - unstack(6,5) - putdown(6) - unstack(5,4) - stack(5,4) - pickup(6) - putdown(6) - unstack(5,4) - stack(5,4) - pickup(6) - stack(6,5) - unstack(6,5) - putdown(6) - unstack(5,4) - putdown(5) - pickup(6) - stack(6,4) - unstack(6,4) - stack(6,4) - unstack(6,4) - stack(6,4) - unstack(6,4) - putdown(6) - unstack(4,3) - stack(4,5) - assimilate(4,5) - unstack(4,5) - putdown(4) - pickup(5) - stack(5,4) - pickup(6) - stack(6,5) - unstack(6,5) - putdown(6) - unstack(5,4) - putdown(5) - pickup(6) - stack(6,4) - unstack(6,4) - stack(6,5) - pickup(4) - stack(4,3) - unstack(6,5) - stack(6,4) - pickup(5) - stack(5,6) - unstack(5,6) - stack(5,6) - unstack(5,6) - putdown(5) - unstack(6,4) - putdown(6) - pickup(5) - stack(5,4) - pickup(6) - stack(6,5)
7	On(1,2), On(3,4), Clear(1), Clear(3), Clear(5), OnTable(2), OnTable(4), OnTable(5), Black(1), Black(2), White(3), White(4), White(5), Black(6), Clear(6), Black(7), Clear(7), OnTable(6), OnTable(7), ArmEmpty.	OnTable(1), OnTable(2), OnTable(3), OnTable(4), OnTable(5), Clear(1), Clear(2), Clear(3), Clear(4), Clear(5), Black(1), Black(2), Black(3), Black(4), Black(5), Black(6), Clear(6), Black(7), Clear(7), OnTable(6), OnTable(7), ArmEmpty.	unstack(1,2) - stack(1,5) - unstack(3,4) - putdown(3) - pickup(6) - stack(6,4) - assimilate(6,4) - unstack(1,5) - stack(1,2) - unstack(6,4) - stack(6,5) - assimilate(6,5) - unstack(1,2) - stack(1,3) - assimilate(1,3) - unstack(1,3) - putdown(1) - unstack(6,5) - putdown(6)