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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).
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[Overview Presentation](https://drive.google.com/open?id=1RHulFDgASACBkjvl-8ZEidj50NbGmKPu)
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[Overview Presentation (pdf)](https://drive.google.com/open?id=1RHulFDgASACBkjvl-8ZEidj50NbGmKPu)
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* Existing Planners are propositional
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* Drawbacks:
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* **Domain Size**: Scaling to large domains of arbitrary sizes poses difficulty.
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# Architecture #
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![spectra-arch.png](https://bitbucket.org/repo/Mjq4bX/images/2495888298-spectra-arch.png)
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![spectra-arch.png](https://bitbucket.org/repo/Mjq4bX/images/2495888298-spectra-arch.png){:height="36px" width="36px"}.
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# Example #
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