Table 2.

Rules of the “Table of Hanoi” problem, extracted automatically from the ABM based on observed experience.

Rule	Preconditions	Post Conditions
:action hanoi-small	(and (isAtLoc small ?from)	(and (not (isAtLoc small ?from))
parameters ?from ?to	(location ?to))	(isAtLoc small ?to))
:action hanoi-medium	(and(isAtLoc medium ?from)	(and (not (isAtLoc medium ?from))
parameters ?from ?to	(not (isAtLoc small ?from)	(isAtLoc medium ?to))
	(not (isAtLoc small ?to)
	(location ?to))
:action hanoi-big	(and(isAtLoc big ?from)	(and (not (isAtLoc big ?from))
parameters ?from ?to	(not (isAtLoc small ?from))	(isAtLoc big ?to))
	(not (isAtLoc small ?to))
	(not (isAtLoc medium ?from))
	(not (isAtLoc medium ?to))
	(location ?to))

These extracted rules allow the iCub to successfully solve the ToH problem.