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Merge branch 'master' of https://github.com/RAIRLab/Spectra

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README.md
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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).
[Overview Presentation (pdf)](https://drive.google.com/open?id=1RHulFDgASACBkjvl-8ZEidj50NbGmKPu)
[System Description Publication (2024)](https://rdcu.be/dIJ7F)
[Overview Presentation (2017)](https://drive.google.com/open?id=1RHulFDgASACBkjvl-8ZEidj50NbGmKPu)
* Drawbacks of propositional planning (current planning systems):
* **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.
## Example Problem Files
See the [example problems](https://github.com/RAIRLab/Spectra/tree/master/src/main/resources/org/rairlab/planner/problems)
## Installation
**Make sure you have Java 17 installed! While ShadowProver will, Spectra will not compile on Java 8.**
First, we need to make sure ShadowProver is installed.
```bash
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./run_spectra.sh [problem_file_path]
```
## Spectra's Architecture ##
![spectra-arch.png](https://bitbucket.org/repo/Mjq4bX/images/2495888298-spectra-arch.png)
## Example Input File ##
![examples.png](https://bitbucket.org/repo/Mjq4bX/images/3136509575-examples.png)
## Cite
```
@article{Rozek2024,
author={Rozek, Brandon and Bringsjord, Selmer},
title={Spectra: An Expressive STRIPS-Inspired AI Planner Based on Automated Reasoning},
journal={KI - K{\"u}nstliche Intelligenz},
year={2024},
month={May},
day={22},
issn={1610-1987},
doi={10.1007/s13218-024-00847-8},
url={https://doi.org/10.1007/s13218-024-00847-8}
}
```