From 13776107e7926ab8c09238e78716112c0c9df54b Mon Sep 17 00:00:00 2001 From: ChenXL97 <908926798@qq.com> Date: Wed, 15 Nov 2023 15:24:10 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E5=A4=9A=E8=BD=AE=E5=AF=B9?= =?UTF-8?q?=E8=AF=9D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/behavior_lib/act/DealChat.py | 9 ++++++--- robowaiter/llm_client/data/test_questions.txt | 2 +- robowaiter/llm_client/data_raw/test_questions.csv | 1 + robowaiter/llm_client/data_tools/csv2dict.py | 1 + robowaiter/scene/scene.py | 2 +- robowaiter/scene/tasks/AEM.py | 1 - robowaiter/scene/tasks/GQA.py | 3 ++- 7 files changed, 12 insertions(+), 7 deletions(-) diff --git a/robowaiter/behavior_lib/act/DealChat.py b/robowaiter/behavior_lib/act/DealChat.py index f95b1dd..710360e 100644 --- a/robowaiter/behavior_lib/act/DealChat.py +++ b/robowaiter/behavior_lib/act/DealChat.py @@ -13,13 +13,16 @@ class DealChat(Act): chat = self.scene.state['chat_list'].pop() self.chat_history += chat + '\n' - res_dict = ask_llm(self.chat_history) + res_dict = ask_llm(chat) answer = res_dict["Answer"] self.chat_history += answer + '\n' goal = res_dict["Goal"] - if goal and "{" not in goal: - goal = {str(goal)} + if goal: + if "{" not in goal: + goal = {str(goal)} + else: + goal=eval(goal) if goal is not None: print(f'goal：{goal}') diff --git a/robowaiter/llm_client/data/test_questions.txt b/robowaiter/llm_client/data/test_questions.txt index 22b4854..e0d8ea9 100644 --- a/robowaiter/llm_client/data/test_questions.txt +++ b/robowaiter/llm_client/data/test_questions.txt @@ -1 +1 @@ -{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"On(Coffee,CoffeeTable)\"}"}, "测试VLM：做一杯咖啡放到吧台上": {"Answer": "测试VLM：做一杯咖啡放到吧台上", "Goal": "{\"On(Coffee,Bar)\"}"}, "测试VLN：前往2号桌": {"Answer": "测试VLN：前往2号桌", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关空调": {"Answer": "测试VLM：关空调", "Goal": "{\"Is(AC,Off)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：开大厅灯": {"Answer": "测试VLM：开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：开筒灯": {"Answer": "测试VLM：开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：开窗帘": {"Answer": "测试VLM：开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：整理椅子": {"Answer": "测试VLM：整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}, "我有点热，能开个空调吗？": {"Answer": "当然可以，我现在就开！", "Goal": "{\"Is(AC,On)\"}"}} +{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"On(Coffee,CoffeeTable)\"}"}, "测试VLM：做一杯咖啡放到吧台上": {"Answer": "测试VLM：做一杯咖啡放到吧台上", "Goal": "{\"On(Coffee,Bar)\"}"}, "测试VLM：做一杯咖啡放到水杯桌上并倒水": {"Answer": "测试VLM：做一杯咖啡放到水杯桌上并倒水", "Goal": "{\"On(Coffee,WaterTable)\"}"}, "测试VLN：前往2号桌": {"Answer": "测试VLN：前往2号桌", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关空调": {"Answer": "测试VLM：关空调", "Goal": "{\"Is(AC,Off)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：开大厅灯": {"Answer": "测试VLM：开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：开筒灯": {"Answer": "测试VLM：开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：开窗帘": {"Answer": "测试VLM：开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：整理椅子": {"Answer": "测试VLM：整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}, "我有点热，能开个空调吗？": {"Answer": "当然可以，我现在就开！", "Goal": "{\"Is(AC,On)\"}"}, "可以带我去吗": {"Answer": "当然可以，前往一号桌", "Goal": "{\"At(Robot,Table1)\"}"}} diff --git a/robowaiter/llm_client/data_raw/test_questions.csv b/robowaiter/llm_client/data_raw/test_questions.csv index 2e64a0b..3bb7a86 100644 --- a/robowaiter/llm_client/data_raw/test_questions.csv +++ b/robowaiter/llm_client/data_raw/test_questions.csv @@ -18,3 +18,4 @@ Question,Answer,Goal VLM,VLM,"{""Is(Chairs,Clean)""}" VLMѱŵTable2,VLMѱŵTable2,"{""On(BottledDrink,Table2)""}" еȣܿյ,ȻԣھͿ,"{""Is(AC,On)""}" +Դȥ,Ȼԣǰһ,"{""At(Robot,Table1)""}" diff --git a/robowaiter/llm_client/data_tools/csv2dict.py b/robowaiter/llm_client/data_tools/csv2dict.py index 6660c79..31feb97 100644 --- a/robowaiter/llm_client/data_tools/csv2dict.py +++ b/robowaiter/llm_client/data_tools/csv2dict.py @@ -24,3 +24,4 @@ with open(csv_file_path, mode='r', encoding='gbk') as csv_file, \ json_str = json.dumps(output_dict, ensure_ascii=False) # 将JSON字符串写入JSONL文件，并添加换行符 jsonl_file.write(json_str + '\n') +s \ No newline at end of file diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index df0ece8..13e20ef 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -221,7 +221,7 @@ class Scene: print('------------------add_walkers----------------------') walker_list = [] for i in range(len(walker_loc)): - loc = walker_loc[i] + [0, 0, 100] + loc = walker_loc[i] + [0,0, 100] action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc) scene = stub.Do(action) print(scene.info) diff --git a/robowaiter/scene/tasks/AEM.py b/robowaiter/scene/tasks/AEM.py index 8c3a899..82870d7 100644 --- a/robowaiter/scene/tasks/AEM.py +++ b/robowaiter/scene/tasks/AEM.py @@ -4,7 +4,6 @@ """ from robowaiter.scene.scene import Scene -from robowaiter.algos.explore.semantic_map import impo class SceneAEM(Scene): def __init__(self, robot): super().__init__(robot) diff --git a/robowaiter/scene/tasks/GQA.py b/robowaiter/scene/tasks/GQA.py index c44f9e5..2fc50bf 100644 --- a/robowaiter/scene/tasks/GQA.py +++ b/robowaiter/scene/tasks/GQA.py @@ -22,8 +22,9 @@ class SceneGQA(Scene): def _reset(self): # self.clean_walker() + self.add_walkers() + - self.add_walker(50, 500, 0) # self.walker_bubble("洗手间在哪里") # self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])