\documentstyle[11pt]{article}
% frob with the margins
\addtolength{\topmargin}{-1in}
\addtolength{\footskip}{-1in}
\addtolength{\textheight}{2in}
\addtolength{\oddsidemargin}{-.5in}
\addtolength{\evensidemargin}{-.5in}
\addtolength{\textwidth}{1in}
% no page numbers
\pagestyle{empty}
% counter for page numbers
\newcounter{pg}
\setcounter{pg}{2}

% DEFINE THE PROBLEM SET NUMBER
\def\psnum{2}

% title command
\newcommand{\mytitle}[1]{\begin{center} {\Large Artificial Intelligence -- 
6.034 Problem Set \psnum \\ Juliet Bourne -- Section R1 -- #1} \\ 
\vspace{-.1in}
\rule{6in}{.5mm} \end{center}}
% problem command
\newcommand{\prob}[1]{\vspace{.15in}\noindent{\fbox{\large\bf Problem #1}}}
% subproblem command
\newcommand{\subprob}[1]{\vspace{.15in} \noindent{\large\bf #1.}}
% equations commands
\newcommand{\beq}{\vspace*{-.3in}\begin{eqnarray*}}
\newcommand{\eeq}{\end{eqnarray*}}
% newpage setup command 
\newcommand{\mynewpage}{\newpage\noindent
\begin{center}
{\Large 6.034 Problem Set \psnum -- Juliet Bourne -- {\bf Page \thepg}}
\rule{6in}{.5mm}
\end{center}
\addtocounter{pg}{1}}
% see-page command
\newcommand{\seepage}{\noindent See page \rule{.2in}{.1mm} for the
computer output.}

\begin{document}

\mytitle{9/28/90}

My rough outline for sub-goaling was this:

\begin{verbatim}

GOAL: GRAB obj

GOAL: GRAB-FROM-FLOOR obj
subgoals:
release-in-order-to-grab
walk-in-order-to-grab

GOAL: GRAB-ON-CEILING obj
subgoals:
move-ladder-under
climb-ladder

GOAL: MOVE obj TO x-y
subgoals:
jump-in-order-to-move
grab-in-order-to-move

GOAL: CLIMB ONTO obj
subgoals:
jump-in-order-to-climb
release-in-order-to-climb
walk-in-order-to-climb

GOAL: WALK TO x-y
subgoals:
jump-in-order-to-walk

GOAL: JUMP ONTO FLOOR

GOAL: RELEASE obj
\end{verbatim}

My file {\bf rules.ops}, which implements the outline above, is
attached.  It contains the answers to the various problems on the
problem set.

I also created a file called {\bf start-rules.ops} which contains
various start-rules for different initial states and/or goals. A
print-out of this file is also attached.

The results of running this different initial states and goals are
attached.  I ran the code with {\bf (watch 1)} so as to watch the
underlying goals and actions. {\em Enjoy.}

\vspace{1in}
\noindent {\em Attached: (1) {\bf rules.ops} (2) {\bf start-rules.ops}
(3) {\bf ops.output} (results of running the code).}

\end{document}
