(5)行动规则： AT(robot,c) AT(robot,b) EMPTY (robot) AT(robot,a) EMPTY (robot) ON(box,a) HOLDS (robot,box) ON (box,b) TABLE(a) TABLE (a) TABLE (a) TABLE (b) TABLE (b) TABLE(b) VGOTO(c,a) UGOTO(a,b) VGOTO (b,c) AT(robot,a) AT(robot,b) AT(robot,c) EMPTY(robot) HOLDS (robot,box) EMPTY (robot) ON (box,a) TABLE (a) ON (box,b) TABLE(a) TABLE (b) TABLE (a) TABLE(b) USet down(b) TABLE (b) VPICK_UP(a)(5)行动规则： AT(robot,c) EMPTY(robot) ON(box,a) TABLE(a) TABLE(b) GOTO(c,a) AT(robot,a) EMPTY(robot) ON(box,a) TABLE(a) TABLE(b) PICK_UP(a) AT(robot,a) HOLDS(robot,box) TABLE(a) TABLE(b) GOTO(a,b) AT(robot,b) HOLDS(robot,box) TABLE(a) TABLE(b) Set_down(b) AT(robot,b) EMPTY(robot) ON(box,b) TABLE(a) TABLE(b) GOTO(b,c) AT(robot,c) EMPTY(robot) ON(box,b) TABLE(a) TABLE(b)