Simplified readme

README.md

@@ -1,6 +1,6 @@
 # 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). 
+Spectra is a general purpose planning system. It extends STRIPS-style planning by allowing arbitray DCEC and first-order formulae for state descriptions, background knowledge, and action descriptions rather than just predicates. This allows, for instance, handling domains with infinite or unbounded objects elegantly (among other things). 
 
 [Overview Presentation (pdf)](https://drive.google.com/open?id=1RHulFDgASACBkjvl-8ZEidj50NbGmKPu)
 
@@ -54,32 +54,3 @@ Now you should be able to run Spectra:
 
 ![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)
-
-
-
-```clojure
-;; (removeFrom  ?x ?y) => "Remove ?x from ?y"
-;; (placeInside  ?x ?y) ==> "Place ?x inside ?y"
-(define-method planMethod [?b ?c ?d]
-  {:goal [(In ?b ?c) (In ?c ?d)]
-   :while [(In ?b ?d) (Empty ?c)
-           (< (size ?c) (size ?d))
-           (< (size ?b) (size ?c))]
-   :actions [(removeFrom  ?b ?d) (placeInside  ?b ?c) (placeInside  ?c ?d)]})
-```
-
-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. 
-
-## Spectra on a Seriated Cup Challenge ##
-
-![download-3.gif](https://bitbucket.org/repo/Mjq4bX/images/794008054-download-3.gif)