Fig. 10.1 shows the actions and arguments selected in a typical run of the normally functioning model. The numbers on the left indicate the cycle number at which each action was executed. As can be seen from the list of actions, the model ﬁrst picks up the milk carton. It then tears it and pours some milk into the cereal bowl (which already contained cereal). After putting the milk carton down the model adds sugar to the cereal from a sugar packet (cycles 314-358) and eats some cereal (cycles 416-452). The model then moves on to the coﬀee-related tasks.