TOAST is given the goal of putting *some* instance of a
given material in its finished state. We will call this an *
existential goal* because it is satisfied by exactly those environment
states in which there exists an object of a specified type in a
specified state. Let (*E*,*G*) be a DCP and let *E*' be uniformly
reducible to *E*. We define the *existential goal*
of *G* in *E*' to be the set of states in *E*' that
project under some binding to a goal state in
(*E*,*G*):

where is the set of states that map to goal states under . Given a solution to a schematic goal in a schematic environment, we can easily construct any number of solutions to the existential goal:

The TOAST algorithm implements a policy which is a composition of a schematic solution and a binding that maps it onto the real world. Consider the problem of cooking an egg. The schematic solution might be:

here the boldface verbsbreakthe-eggintothe-pan

beatthe-egginthe-panusingthe-whisk

heatthe-egginthe-pan

Wed Apr 2 15:17:20 CST 1997