Robots engage in high level planning when executing real world tasks. We queried Tell Me Dave  for a high level plan describing how to distribute three mugs among three tables. Since Baxter is not mobile, we simulated three tables by constructing three pedestals which rest inside of Baxter’s work space.

Here is a video showing Baxter distributing three mugs on three pedestals of different heights in response to the natural language input “Distribute the mugs on the tables” :

https://youtu.be/ndAKINx9wgY