Discussion
Which representation is needed to say that one block is on another?
Answer: A
Expressing a relation between two objects requires a structured representation with objects, relations and the ability to quantify over them, which is what first order logic and relational planning languages provide. A factored representation can encode a fixed set of blocks clumsily but cannot generalise over them. Atomic representations cannot express it at all. The choice is not merely convenience: it determines what can be said as well as what can be computed.
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