mirror of
https://github.com/RAIRLab/Spectra.git
synced 2024-11-21 08:26:30 -05:00
Update README.md
This commit is contained in:
parent
e723fb5a1e
commit
b0f425d3c7
1 changed files with 22 additions and 0 deletions
22
README.md
22
README.md
|
@ -1,5 +1,27 @@
|
|||
# Spectra
|
||||
|
||||
Spectra is a general purpose planning system. It extends STRIPS-style planning by allowing arbitray first-order formulae for state descriptions and background knowledge rather than just predicates. This allows, for instance, handling domains with infinite or unbounded objects elegantly (among other things).
|
||||
|
||||
|
||||
|
||||
* Existing Planners are propositional
|
||||
* Drawbacks:
|
||||
* **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.
|
||||
|
||||
# Architecture #
|
||||
![spectra-arch.png](https://bitbucket.org/repo/Mjq4bX/images/2495888298-spectra-arch.png)
|
||||
|
||||
# Example #
|
||||
|
||||
![examples.png](https://bitbucket.org/repo/Mjq4bX/images/3136509575-examples.png)
|
||||
# Scaling Up #
|
||||
|
||||
Two approaches:
|
||||
|
||||
1. **Procedural Attachments**: Special purpose procedural code that can bypass strict formal reasoning.
|
||||
|
||||
2. *μ*-**methods**: Written in denotational proof language. Preserves soundness by letting us write down commonly used patterns of reasoning (a bit unwieldy integration now than the first approach)
|
||||
|
||||
|
||||
|
||||
|
|
Loading…
Reference in a new issue