Crelay-Topo Subgoal Solutions
=============================

This is the cumulative record of validated subgoal solutions.  Append each new
subgoal after it has been found and validated; do not replace earlier entries.

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Subgoal 1 -- Hold gate1 open with connector1
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Subgoal:

  (and (on connector1 plate1)
       (ghost-stops-recorder))

Status: validated, 10 actions

Purpose:

  Complete one normal recorder cycle with connector1 left on plate1 so that
  gate1 remains open.  Agent1 ends at location2.  Tray1 remains on plate2 at
  location7, keeping gate3 open, and box1 remains at location6.

Integrated WouldWork action sequence:

   1. (START-RECORDER AGENT1)
   2. (MOVE AGENT1* ((WALK LOCATION1 NIL LOCATION2)))
   3. (MOVE AGENT1* ((STEP (LOCATION2 GROUND) NIL
                                  (LOCATION2 PLATE1))))
   4. (MOVE AGENT1 ((WALK LOCATION1 (GATE1 GATE3) LOCATION9)))
   5. (PICKUP-CONNECTOR AGENT1 CONNECTOR1 LOCATION9)
   6. (MOVE AGENT1 ((WALK LOCATION9 (GATE1 GATE3) LOCATION2)))
   7. (PUT-CONNECTOR AGENT1 CONNECTOR1 LOCATION2 PLATE1)
   8. (MOVE AGENT1* ((STEP (LOCATION2 PLATE1) NIL
                                  (LOCATION2 GROUND))))
   9. (MOVE AGENT1* ((WALK LOCATION2 NIL LOCATION1)))
  10. (STOP-RECORDER AGENT1*)

Setup phase:

  No preliminary actions are required.  Initially agent1 is at recorder1 at
  location1, connector1 is at location9, tray1 is on plate2 at location7, and
  box1 is at location6.  Gates2, gate3, and gate5 are open.

Recording phase:

  (START-RECORDER AGENT1)
  (MOVE AGENT1* ((WALK LOCATION1 NIL LOCATION2)))
  (MOVE AGENT1* ((STEP (LOCATION2 GROUND) NIL
                              (LOCATION2 PLATE1))))
  (PAUSE)
  (MOVE AGENT1* ((STEP (LOCATION2 PLATE1) NIL
                              (LOCATION2 GROUND))))
  (MOVE AGENT1* ((WALK LOCATION2 NIL LOCATION1)))
  (STOP-RECORDER AGENT1*)

Playback phase during the pause:

  (MOVE AGENT1 ((WALK LOCATION1 (GATE1 GATE3) LOCATION9)))
  (PICKUP-CONNECTOR AGENT1 CONNECTOR1 LOCATION9)
  (MOVE AGENT1 ((WALK LOCATION9 (GATE1 GATE3) LOCATION2)))
  (PUT-CONNECTOR AGENT1 CONNECTOR1 LOCATION2 PLATE1)
  (RESUME)


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Subgoal 2 -- Put box1 on plate2; leave tray1 grounded at location7
------------------------------------------------

Subgoal:

  (and (on connector1 plate1)
       (on box1 plate2)
       (has-location box1 location7)
       (has-location tray1 location7)
       (not (on tray1 plate2))
       (not (holding agent1 tray1))
       (= (base tray1) 0)
       (ghost-stops-recorder))

Status: validated, 20 actions (30 cumulative), replayed 2026-09-12.
Integrated replay and both recorder cycles pass; no minimum-length search was run.

Purpose:

  Complete the second normal recorder cycle with box1 replacing tray1 on plate2.
  First put the live tray on the ground at location7, freeing plate2 before
  retrieving box1. The ghost-held tray still supports the blower-assisted trip
  to elevated location6. Bring box1 back to location7 and put it on plate2.

Integrated WouldWork action sequence from the Subgoal 1 endpoint:

   1. (MOVE AGENT1 ((WALK LOCATION2 NIL LOCATION1)))
   2. (START-RECORDER AGENT1)
   3. (MOVE AGENT1* ((WALK LOCATION1 (GATE1) LOCATION7)))
   4. (PICKUP-TRAY AGENT1* TRAY1* LOCATION7 LOCATION7)
   5. (MOVE AGENT1* ((WALK LOCATION7 NIL LOCATION5)))
   6. (MOVE AGENT1 ((WALK LOCATION1 (GATE1) LOCATION7)))
   7. (PICKUP-TRAY AGENT1 TRAY1 LOCATION7 LOCATION7)
   8. (PUT-TRAY AGENT1 TRAY1 GROUND LOCATION7)
   9. (MOVE AGENT1 ((WALK LOCATION7 NIL LOCATION4)))
  10. (MOVE AGENT1 ((STEP (LOCATION4 GROUND) NIL (LOCATION4 BLOWER1))))
  11. (TOGGLE-SWITCH AGENT1 SWITCH1)
  12. (MOVE AGENT1 ((JUMP (LOCATION20 GROUND) NIL (LOCATION5 TRAY1*))))
  13. (TOGGLE-SWITCH AGENT1 SWITCH1)
  14. (MOVE AGENT1 ((JUMP (LOCATION5 TRAY1*) (GATE2) (LOCATION6 GROUND))))
  15. (PICKUP-BOX AGENT1 BOX1 LOCATION6 LOCATION6)
  16. (MOVE AGENT1 ((JUMP LOCATION6 (GATE2) LOCATION4) (WALK LOCATION4 NIL LOCATION7)))
  17. (PUT-BOX AGENT1 BOX1 PLATE2 LOCATION7)
  18. (MOVE AGENT1* ((WALK LOCATION5 (GATE1) LOCATION1)))
  19. (PUT-TRAY AGENT1* TRAY1* GROUND LOCATION1)
  20. (STOP-RECORDER AGENT1*)

Setup phase:

  Agent1 walks from location2 back to recorder1 at location1. Connector1
  remains on plate1 and tray1 initially remains on plate2.

Recording phase:

  (START-RECORDER AGENT1)
  (MOVE AGENT1* ((WALK LOCATION1 (GATE1) LOCATION7)))
  (PICKUP-TRAY AGENT1* TRAY1* LOCATION7 LOCATION7)
  (MOVE AGENT1* ((WALK LOCATION7 NIL LOCATION5)))
  (PAUSE)
  (MOVE AGENT1* ((WALK LOCATION5 (GATE1) LOCATION1)))
  (PUT-TRAY AGENT1* TRAY1* GROUND LOCATION1)
  (STOP-RECORDER AGENT1*)

Playback phase during the pause:

  (MOVE AGENT1 ((WALK LOCATION1 (GATE1) LOCATION7)))
  (PICKUP-TRAY AGENT1 TRAY1 LOCATION7 LOCATION7)
  (PUT-TRAY AGENT1 TRAY1 GROUND LOCATION7)
  (MOVE AGENT1 ((WALK LOCATION7 NIL LOCATION4)))
  (MOVE AGENT1 ((STEP (LOCATION4 GROUND) NIL (LOCATION4 BLOWER1))))
  (TOGGLE-SWITCH AGENT1 SWITCH1)
  (MOVE AGENT1 ((JUMP (LOCATION20 GROUND) NIL (LOCATION5 TRAY1*))))
  (TOGGLE-SWITCH AGENT1 SWITCH1)
  (MOVE AGENT1 ((JUMP (LOCATION5 TRAY1*) (GATE2) (LOCATION6 GROUND))))
  (PICKUP-BOX AGENT1 BOX1 LOCATION6 LOCATION6)
  (MOVE AGENT1 ((JUMP LOCATION6 (GATE2) LOCATION4)
                (WALK LOCATION4 NIL LOCATION7)))
  (PUT-BOX AGENT1 BOX1 PLATE2 LOCATION7)
  (RESUME)

Validated endpoint:

  Agent1 is empty-handed at location7. Box1 is on plate2 at location7;
  tray1 is unheld and grounded beside it at the same location. Connector1
  remains on plate1. Switch1 and blower1 are off; gates1, 2, 3, and 5 are open.
  Gate3 temporarily closes while plate2 is empty, but no intervening action
  needs it. The second cycle closes normally and all ghost-object state is gone.

  See subgoal2-validation.txt for the retained replay and recorder-cycle evidence.


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Subgoal 3 -- Transfer the loaded tray, establish the beam, and reach the goal
------------------------------------------------

Subgoal:

  (and (has-location agent1 location19)
       (on tray1 plate6)
       (on connector1 plate7)
       (on box1 plate8)
       (on agent1* plate3))

Status: validated, 64 actions (94 cumulative), replayed 2026-09-15.
VALIDATE-SOLUTION: all 94 actions executed successfully; original goal satisfied.
VALIDATE-RECORDER-SOLUTION: T NIL. Two closed cycles and the final open cycle
pass independent recording checks; complete playback reaches location19.
No minimum-length search was run.

Purpose:

  Load box1 and connector1 onto the ghost-held tray with the blower. Stage
  plates4/5, turn switch2 on, and transfer the stack to the live tray. The
  ghost establishes the transmitter1/repeater1 beam and holds plate3. Agent1
  carries all three live objects through gate8, distributes them on plates6-8,
  and reaches location19 while the ghost remains on plate3.

Integrated WouldWork action sequence from the Subgoal 2 endpoint:

   1. (MOVE AGENT1 ((WALK LOCATION7 (GATE1) LOCATION1)))
   2. (START-RECORDER AGENT1)
   3. (MOVE AGENT1* ((WALK LOCATION1 (GATE1) LOCATION7)))
   4. (PICKUP-TRAY AGENT1* TRAY1* LOCATION7 LOCATION7)
   5. (MOVE AGENT1* ((WALK LOCATION7 NIL LOCATION5)))
   6. (MOVE AGENT1 ((WALK LOCATION1 NIL LOCATION2)))
   7. (PICKUP-CONNECTOR AGENT1 CONNECTOR1 LOCATION2)
   8. (MOVE AGENT1 ((WALK LOCATION2 (GATE1) LOCATION7)))
   9. (CONNECT-CONNECTOR AGENT1 CONNECTOR1 LOCATION7 GROUND (REPEATER1 RECEIVER1))
  10. (PICKUP-BOX AGENT1 BOX1 LOCATION7 LOCATION7)
  11. (MOVE AGENT1 ((WALK LOCATION7 NIL LOCATION4)))
  12. (MOVE AGENT1 ((STEP (LOCATION4 GROUND) NIL (LOCATION4 BLOWER1))))
  13. (TOGGLE-SWITCH AGENT1 SWITCH1)
  14. (PUT-BOX AGENT1 BOX1 TRAY1* LOCATION5)
  15. (TOGGLE-SWITCH AGENT1 SWITCH1)
  16. (MOVE AGENT1 ((WALK LOCATION4 NIL LOCATION7)))
  17. (PICKUP-CONNECTOR AGENT1 CONNECTOR1 LOCATION7)
  18. (MOVE AGENT1 ((WALK LOCATION7 NIL LOCATION4)))
  19. (MOVE AGENT1 ((STEP (LOCATION4 GROUND) NIL (LOCATION4 BLOWER1))))
  20. (TOGGLE-SWITCH AGENT1 SWITCH1)
  21. (CONNECT-CONNECTOR AGENT1 CONNECTOR1 LOCATION5 BOX1 (REPEATER1 RECEIVER1))
  22. (TOGGLE-SWITCH AGENT1 SWITCH1)
  23. (MOVE AGENT1 ((WALK LOCATION4 NIL LOCATION7)))
  24. (PICKUP-TRAY AGENT1 TRAY1 LOCATION7 LOCATION7)
  25. (MOVE AGENT1 ((WALK LOCATION7 (GATE3 GATE5) LOCATION13)))
  26. (PUT-TRAY AGENT1 TRAY1 PLATE4 LOCATION13)
  27. (MOVE AGENT1* ((WALK LOCATION5 (GATE3 GATE5) LOCATION12)))
  28. (MOVE AGENT1* ((STEP (LOCATION12 GROUND) NIL (LOCATION12 PLATE5))))
  29. (MOVE AGENT1 ((WALK LOCATION13 (GATE6 SCREEN1) LOCATION14)))
  30. (TOGGLE-SWITCH AGENT1 SWITCH2)
  31. (MOVE AGENT1 ((WALK LOCATION14 (GATE6 SCREEN1) LOCATION13)))
  32. (PICKUP-TRAY AGENT1 TRAY1 LOCATION13 LOCATION13)
  33. (MOVE AGENT1 ((WALK LOCATION13 NIL LOCATION12)))
  34. (MOVE AGENT1 ((STEP (LOCATION12 GROUND) NIL (LOCATION12 PLATE5))))
  35. (PUT-TRAY AGENT1* TRAY1* GROUND LOCATION12)
  36. (PICKUP-TRAY AGENT1* TRAY1* LOCATION12 LOCATION12)
  37. (MOVE AGENT1* ((STEP (LOCATION12 PLATE5) NIL (LOCATION12 GROUND))))
  38. (MOVE AGENT1* ((WALK LOCATION12 (GATE1 GATE3 GATE5) LOCATION2)))
  39. (PUT-TRAY AGENT1* TRAY1* GROUND LOCATION2)
  40. (PICKUP-CONNECTOR AGENT1* CONNECTOR1* LOCATION2)
  41. (PUT-CONNECTOR AGENT1* CONNECTOR1* LOCATION2 GROUND)
  42. (PICKUP-TRAY AGENT1* TRAY1* LOCATION2 LOCATION2)
  43. (PUT-TRAY AGENT1* TRAY1* PLATE1 LOCATION2)
  44. (PICKUP-CONNECTOR AGENT1* CONNECTOR1* LOCATION2)
  45. (MOVE AGENT1* ((WALK LOCATION2 (GATE1 GATE3) LOCATION9)))
  46. (CONNECT-CONNECTOR AGENT1* CONNECTOR1* LOCATION9 GROUND (REPEATER1 TRANSMITTER1))
  47. (MOVE AGENT1* ((WALK LOCATION9 NIL LOCATION10)))
  48. (MOVE AGENT1* ((STEP (LOCATION10 GROUND) NIL (LOCATION10 PLATE3))))
  49. (MOVE AGENT1 ((STEP (LOCATION12 PLATE5) NIL (LOCATION12 GROUND))))
  50. (MOVE AGENT1 ((WALK LOCATION12 (GATE7) LOCATION15)))
  51. (MOVE AGENT1 ((WALK LOCATION15 (GATE8) LOCATION21)))
  52. (PUT-TRAY AGENT1 TRAY1 GROUND LOCATION21)
  53. (PICKUP-TRAY AGENT1 TRAY1 LOCATION21 LOCATION21)
  54. (MOVE AGENT1 ((WALK LOCATION21 NIL LOCATION16)))
  55. (PUT-TRAY AGENT1 TRAY1 PLATE6 LOCATION16)
  56. (MOVE AGENT1 ((WALK LOCATION16 NIL LOCATION21)))
  57. (PICKUP-CONNECTOR AGENT1 CONNECTOR1 LOCATION21)
  58. (MOVE AGENT1 ((WALK LOCATION21 NIL LOCATION17)))
  59. (PUT-CONNECTOR AGENT1 CONNECTOR1 LOCATION17 PLATE7)
  60. (MOVE AGENT1 ((WALK LOCATION17 NIL LOCATION21)))
  61. (PICKUP-BOX AGENT1 BOX1 LOCATION21 LOCATION21)
  62. (MOVE AGENT1 ((WALK LOCATION21 NIL LOCATION18)))
  63. (PUT-BOX AGENT1 BOX1 PLATE8 LOCATION18)
  64. (MOVE AGENT1 ((WALK LOCATION18 (GATE9) LOCATION19)))

Phase A -- loading, actions 1-22 (31-52 cumulative):

  Return to recorder1 and start cycle 3. Box1* holds plate2 and connector1*
  holds plate1. Pause the ghost holding tray1* at location5. Agent1 stages
  connector1 at location7 and uses the blower to put box1 on tray1*. Repeat
  the blower trip to connect connector1 on box1 to repeater1/receiver1.
  Turn switch1 off after each loading trip.

  Current PICKUP-CONNECTOR clears pairings. The second pickup is followed by
  CONNECT-CONNECTOR on box1. The retain-pairings pickup option is missing from
  tech/ and was not added for this validation.

Phase B -- switch2 and handoff, actions 23-35 (53-65 cumulative):

  Put live tray1 on plate4. The ghost carries the stack to location12 and
  steps onto plate5. Agent1 crosses gate6/screen1 empty-handed, turns switch2
  on, and returns before retrieving tray1. Agent1 then stands on plate5 while
  holding tray1. The ghost releases tray1* locally to ground: box1 settles
  onto the equal-height live tray, preserving connector1 and both pairings.

Phase C -- ghost beam setup, actions 36-48 (66-78 cumulative):

  The ghost retrieves tray1*, steps down, and returns to location2 through
  still-open recording gate5. Ground the tray, pick up and ground connector1*,
  place tray1* on plate1, then retrieve connector1*. Connect connector1* at
  location9 to repeater1/transmitter1 and stand on plate3 at location10.
  Gate4 opens and repeater1 becomes energized. The ghost waits through the goal.

Phase D -- finish, actions 49-64 (79-94 cumulative):

  Agent1 steps off plate5 and carries the stack through gate7 to location15,
  then gate8 to location21. Release tray1, grounding box1 with connector1 on
  top. Put tray1 on plate6, return for connector1 and put it on plate7, then
  return for box1 and put it on plate8. Walk through gate9 to location19.
  Final connector pickup clears its pairings; the beam is no longer needed
  after all resources have crossed gate8.

Validated endpoint:

  Agent1 is at location19. Tray1 is on plate6 at location16; unpaired
  connector1 is on plate7 at location17; box1 is on plate8 at location18.
  Agent1* remains on plate3 at location10. Tray1* holds plate1 at location2,
  box1* holds plate2 at location7, and connector1* at location9 is paired to
  repeater1/transmitter1. Switch2 is on. Ordinary gates1, 2, 3, 4, 7, and 9
  are open; gate8 has closed after the live beam was dismantled.

  The third cycle remains open at the goal. No actual STOP-RECORDER at plate3
  is needed or claimed. This replaces the former four-cycle intermediate
  checkpoint; no Subgoal 4 is required for this retained solution.

Evidence:

  subgoal3-handoff-validation.txt -- 65-action handoff prefix.
  subgoal3-complete-validation.txt -- exact 94-action replay and final evidence.
  Historical-Analysis-before-2026-09-15.txt -- superseded Subgoal 3 and notes.
