AI helps household robots cut planning time in half

Your brand new household robot is delivered to your house, and you ask it to make you a cup of coffee. Although it knows some basic skills from previous practice in simulated kitchens, there are way too many actions it could possibly take—turning on the faucet, flushing the toilet, emptying out the flour container, and so on. But there's a tiny number of actions that could possibly be useful. How is the robot to figure out what steps are sensible in a new situation?