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# 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)