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85 lines
2.5 KiB
Markdown
85 lines
2.5 KiB
Markdown
# Spectra
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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 (pdf)](https://drive.google.com/open?id=1RHulFDgASACBkjvl-8ZEidj50NbGmKPu)
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* Drawbacks of propositional planning (current planning systems):
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* **Expressivity**: Cannot express arbitrary constraints. *“At every step make sure that no two blocks on the table have same color”*
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* **Domain Size**: Scaling to large domains of arbitrary sizes poses difficulty.
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## Installation
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First, we need to make sure ShadowProver is installed.
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```bash
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git clone --recursive https://github.com/RAIRLab/ShadowProver.git
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```
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```bash
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cd ShadowProver
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mvn package
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mvn install
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```
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Now, we can clone the Spectra repository.
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```bash
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git clone --recursive https://github.com/RAIRLab/Spectra.git
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```
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Similarly build and install the java project
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```bash
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cd Spectra
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mvn package
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mvn install
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```
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Now you should be able to run Spectra:
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```bash
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./run_spectra.sh [problem_file_path]
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```
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## Spectra's Architecture ##
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## Example Input File ##
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## Scaling Up ##
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Two approaches:
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1. **Procedural Attachments**: Special purpose procedural code that can bypass strict formal reasoning.
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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)
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```clojure
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;; (removeFrom ?x ?y) => "Remove ?x from ?y"
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;; (placeInside ?x ?y) ==> "Place ?x inside ?y"
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(define-method planMethod [?b ?c ?d]
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{:goal [(In ?b ?c) (In ?c ?d)]
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:while [(In ?b ?d) (Empty ?c)
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(< (size ?c) (size ?d))
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(< (size ?b) (size ?c))]
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:actions [(removeFrom ?b ?d) (placeInside ?b ?c) (placeInside ?c ?d)]})
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```
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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).
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The planner then verifies if the plan template works, if so it outputs the plan.
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## Spectra on a Seriated Cup Challenge ##
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