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@ -8,18 +8,18 @@ Spectra is a general purpose planning system. It extends STRIPS-style planning b
* **Expressivity**: Cannot express arbitrary constraints. *“At every step make sure that no two blocks on the table have same color”* * **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. * **Domain Size**: Scaling to large domains of arbitrary sizes poses difficulty.
# Spectra's Architecture # ## Spectra's Architecture ##
![spectra-arch.png](https://bitbucket.org/repo/Mjq4bX/images/2495888298-spectra-arch.png) ![spectra-arch.png](https://bitbucket.org/repo/Mjq4bX/images/2495888298-spectra-arch.png)
# Example # ## Example Input File ##
![examples.png](https://bitbucket.org/repo/Mjq4bX/images/3136509575-examples.png) ![examples.png](https://bitbucket.org/repo/Mjq4bX/images/3136509575-examples.png)
# Scaling Up # ## Scaling Up ##
Two approaches: Two approaches:
@ -43,5 +43,6 @@ Two approaches:
Roughly, a method has conditions that the goal and background + start state should satisfy. If the conditions are satisfied, a plan template is generated (note the variables). Roughly, a method has conditions that the goal and background + start state should satisfy. If the conditions are satisfied, a plan template is generated (note the variables).
The planner then verifies if the plan template works, if so it outputs the plan. The planner then verifies if the plan template works, if so it outputs the plan.
## Spectra's on a Seriated Cup Challenge ##
![download-3.gif](https://bitbucket.org/repo/Mjq4bX/images/794008054-download-3.gif) ![download-3.gif](https://bitbucket.org/repo/Mjq4bX/images/794008054-download-3.gif)