Example: Dinner Date Problem Initial Conditions:(and(clean Hands)(quiet)) (and(no Garbage)(dinner)(present) effectand (no Garbage)(not(clean Hands))) C operator dolly precondition effectand(no Garbage)(not(quiet))) Coperator cook precondition(clean Hands effect(dinner)) Coperator wrap precondition(quiet) effect(present) (Parameterized)Operator Schemata Instead of defining pickup-A and pickup-B and Define a schema ?var denotes a free variable parameters(block ob1)) precondition(and(clear obl) (on-table obl) (arm-empty)) ffect(and (not(clear obl)) (not(arm-empty)) (holding obl))Example: Dinner Date Problem Initial Conditions: (and (cleanHands) (quiet)) Goal: (and (noGarbage) (dinner) (present)) Actions: (:operator carry :precondition :effect (and (noGarbage) (not (cleanHands))) (:operator dolly :precondition :effect (and (noGarbage) (not (quiet))) (:operator cook :precondition (cleanHands) :effect (dinner)) (:operator wrap :precondition (quiet) :effect (present)) + noops (Parameterized) Operator Schemata (:operator pick-up :parameters ((block ob1)) :precondition (and (clear ob1) (on-table ob1) (arm-empty)) :effect (and (not (clear ob1)) (not (on-table ob1)) (not (arm-empty)) (holding ob1))) ƒ Instead of defining: pickup-A and pickup-B and … ƒ Define a schema: Note: strips doesn’t allow derived effects; you must be complete! } ?var denotes a free variable