Before revision:  Manipulation Primitives, such as `` Move down until contact '', `` Slide along x while maintaining contact with the surface '' , have enough complexity to keep the search tree shallow, yet are generic enough to generalize across a wide range of assembly tasks.
After revision:  Manipulation Primitives, such as `` Move down until contact ", " Slide along x while maintaining contact with the surface '' , have enough complexity to keep the search tree shallow, yet are generic enough to generalize across a wide range of assembly tasks.