We are doomed if most of the comments here are just talking about the website layout and not the contents of the article.

Anyway:

> The physics of pushing a block doesn't change if you shift, rotate or mirror the whole table. So when the graph has no states near a goal, it can take demonstration segments from elsewhere, transform them to fit the gap, and plan through those. With these transformed segments, success came back to 85%

This is an interesting technique to recover incomplete states or lost memories after demonstration. I'm guessing that the original LeWM does not have technique of transformative memories if I am correct?