(Answered) Question we saw that planning graphs can handle only

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Question: We saw that planning graphs can handle only propositional actions. What if we want to use planning graphs for a problem with variables in the goal., such as At (PI, x) A At (P2, x), where x ranges over a finite domain of locations? How could you encode such a problem to work with planning graphs? (Hint: remember the Finish action from POP planning. What preconditions should it have?)

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