Spectra/README.md

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# Spectra
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Spectra is a general purpose planning system. It extends STRIPS-style planning by allowing arbitrary DCEC and first-order formulae for state descriptions, background knowledge, and action descriptions rather than just predicates. This allows, for instance, handling domains with infinite or unbounded objects elegantly (among other things).
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[Overview Presentation (pdf)](https://drive.google.com/open?id=1RHulFDgASACBkjvl-8ZEidj50NbGmKPu)
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* Drawbacks of propositional planning (current planning systems):
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* **Expressivity**: Cannot express arbitrary constraints. *“At every step make sure that no two blocks on the table have same color”*
* **Domain Size**: Scaling to large domains of arbitrary sizes poses difficulty.
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## Installation
First, we need to make sure ShadowProver is installed.
```bash
git clone --recursive https://github.com/RAIRLab/ShadowProver.git
```
```bash
cd ShadowProver
mvn package
mvn install
```
Now, we can clone the Spectra repository.
```bash
git clone --recursive https://github.com/RAIRLab/Spectra.git
```
Similarly build and install the java project
```bash
cd Spectra
mvn package
mvn install
```
Now you should be able to run Spectra:
```bash
./run_spectra.sh [problem_file_path]
```
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## Spectra's Architecture ##
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![spectra-arch.png](https://bitbucket.org/repo/Mjq4bX/images/2495888298-spectra-arch.png)
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## Example Input File ##
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![examples.png](https://bitbucket.org/repo/Mjq4bX/images/3136509575-examples.png)
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