diff --git a/robowaiter/scene/outputs/current_bt.png b/robowaiter/scene/outputs/current_bt.png
index e4a8a3e..2f69884 100644
Binary files a/robowaiter/scene/outputs/current_bt.png and b/robowaiter/scene/outputs/current_bt.png differ
diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py
index bb3294b..c35f1eb 100644
--- a/robowaiter/scene/scene.py
+++ b/robowaiter/scene/scene.py
@@ -1063,7 +1063,7 @@ class Scene:
                 # cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs,
                 #                                                   objs_name_set)
 
-                cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(plt, db, scene,
+                cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(self, db, scene,
                                                                                    cur_obstacle_world_points, map_ratio)
 
                 # if scene.info == "Unreachable":
diff --git a/robowaiter/scene/ui/pyqt5.py b/robowaiter/scene/ui/pyqt5.py
index f641e50..8dd21d4 100644
--- a/robowaiter/scene/ui/pyqt5.py
+++ b/robowaiter/scene/ui/pyqt5.py
@@ -80,6 +80,9 @@ class UI(QMainWindow, Ui_MainWindow):
         self.btn_say.clicked.connect(self.btn_say_on_click)
         self.img_view_bt.setDragMode(QGraphicsView.ScrollHandDrag)
 
+        # 下拉菜单绑定函数
+        # 下拉菜单.seleted.connect(self.你写的函数)
+
         # # BT树的显示
         # self.setScaledContents(True)  # 图片将根据label的大小自动缩放
         # self.label_moved = False  # 用于判断是否移动了标签
@@ -239,6 +242,7 @@ class UI(QMainWindow, Ui_MainWindow):
         control.setPixmap(self.scale_pixmap_to_label(pixmap, control))
         # control.setPixmap(pixmap)
 
+
     def draw_canvas(self,control_name,canvas):
         control = getattr(self,control_name,None)
         # 加载并显示图片
diff --git a/robowaiter/scene/ui/window.py b/robowaiter/scene/ui/window.py
index 62739dd..7bd303b 100644
--- a/robowaiter/scene/ui/window.py
+++ b/robowaiter/scene/ui/window.py
@@ -14,92 +14,23 @@ from PyQt5 import QtCore, QtGui, QtWidgets
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(896, 967)
+        MainWindow.resize(895, 967)
         MainWindow.setAutoFillBackground(False)
         self.centralwidget = QtWidgets.QWidget(MainWindow)
         self.centralwidget.setObjectName("centralwidget")
-        self.gridLayout_4 = QtWidgets.QGridLayout(self.centralwidget)
-        self.gridLayout_4.setObjectName("gridLayout_4")
-        self.gridLayout = QtWidgets.QGridLayout()
+        self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
         self.gridLayout.setObjectName("gridLayout")
-        self.label_9 = QtWidgets.QLabel(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("等线")
-        font.setPointSize(10)
-        font.setBold(True)
-        font.setWeight(75)
-        self.label_9.setFont(font)
-        self.label_9.setObjectName("label_9")
-        self.gridLayout.addWidget(self.label_9, 0, 0, 1, 2)
-        self.edit_say = QtWidgets.QLineEdit(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("Times New Roman")
-        font.setPointSize(14)
-        self.edit_say.setFont(font)
-        self.edit_say.setObjectName("edit_say")
-        self.gridLayout.addWidget(self.edit_say, 0, 2, 1, 1)
-        self.btn_say = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("黑体")
-        font.setPointSize(14)
-        self.btn_say.setFont(font)
-        self.btn_say.setObjectName("btn_say")
-        self.gridLayout.addWidget(self.btn_say, 0, 3, 1, 1)
-        self.verticalLayout = QtWidgets.QVBoxLayout()
-        self.verticalLayout.setObjectName("verticalLayout")
-        self.btn_AEM = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("黑体")
-        font.setPointSize(14)
-        self.btn_AEM.setFont(font)
-        self.btn_AEM.setObjectName("btn_AEM")
-        self.verticalLayout.addWidget(self.btn_AEM)
-        self.btn_VLN = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("黑体")
-        font.setPointSize(14)
-        self.btn_VLN.setFont(font)
-        self.btn_VLN.setObjectName("btn_VLN")
-        self.verticalLayout.addWidget(self.btn_VLN)
-        self.btn_VLM = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("黑体")
-        font.setPointSize(14)
-        self.btn_VLM.setFont(font)
-        self.btn_VLM.setObjectName("btn_VLM")
-        self.verticalLayout.addWidget(self.btn_VLM)
-        self.btn_GQA = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("黑体")
-        font.setPointSize(14)
-        self.btn_GQA.setFont(font)
-        self.btn_GQA.setObjectName("btn_GQA")
-        self.verticalLayout.addWidget(self.btn_GQA)
-        self.btn_OT = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("黑体")
-        font.setPointSize(14)
-        self.btn_OT.setFont(font)
-        self.btn_OT.setObjectName("btn_OT")
-        self.verticalLayout.addWidget(self.btn_OT)
-        self.btn_AT = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("黑体")
-        font.setPointSize(14)
-        self.btn_AT.setFont(font)
-        self.btn_AT.setObjectName("btn_AT")
-        self.verticalLayout.addWidget(self.btn_AT)
-        self.btn_reset = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("黑体")
-        font.setPointSize(14)
-        self.btn_reset.setFont(font)
-        self.btn_reset.setObjectName("btn_reset")
-        self.verticalLayout.addWidget(self.btn_reset)
-        self.gridLayout.addLayout(self.verticalLayout, 1, 0, 2, 1)
+        self.verticalLayout_4 = QtWidgets.QVBoxLayout()
+        self.verticalLayout_4.setObjectName("verticalLayout_4")
         self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_2.setSpacing(100)
         self.horizontalLayout_2.setObjectName("horizontalLayout_2")
         self.label_10 = QtWidgets.QLabel(self.centralwidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Maximum, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_10.sizePolicy().hasHeightForWidth())
+        self.label_10.setSizePolicy(sizePolicy)
         font = QtGui.QFont()
         font.setFamily("黑体")
         font.setPointSize(14)
@@ -107,16 +38,27 @@ class Ui_MainWindow(object):
         self.label_10.setObjectName("label_10")
         self.horizontalLayout_2.addWidget(self.label_10)
         self.label_11 = QtWidgets.QLabel(self.centralwidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_11.sizePolicy().hasHeightForWidth())
+        self.label_11.setSizePolicy(sizePolicy)
         font = QtGui.QFont()
         font.setFamily("黑体")
         font.setPointSize(14)
         self.label_11.setFont(font)
         self.label_11.setObjectName("label_11")
         self.horizontalLayout_2.addWidget(self.label_11)
-        self.gridLayout.addLayout(self.horizontalLayout_2, 1, 1, 1, 3)
-        self.horizontalLayout_3 = QtWidgets.QHBoxLayout()
-        self.horizontalLayout_3.setObjectName("horizontalLayout_3")
+        self.verticalLayout_4.addLayout(self.horizontalLayout_2)
+        self.horizontalLayout = QtWidgets.QHBoxLayout()
+        self.horizontalLayout.setObjectName("horizontalLayout")
         self.list_customer = QtWidgets.QListWidget(self.centralwidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.list_customer.sizePolicy().hasHeightForWidth())
+        self.list_customer.setSizePolicy(sizePolicy)
+        self.list_customer.setMinimumSize(QtCore.QSize(50, 250))
         font = QtGui.QFont()
         font.setPointSize(11)
         self.list_customer.setFont(font)
@@ -125,17 +67,23 @@ class Ui_MainWindow(object):
         self.list_customer.addItem(item)
         item = QtWidgets.QListWidgetItem()
         self.list_customer.addItem(item)
-        self.horizontalLayout_3.addWidget(self.list_customer)
+        self.horizontalLayout.addWidget(self.list_customer)
         self.edit_local_history = QtWidgets.QTextEdit(self.centralwidget)
         self.edit_local_history.setEnabled(True)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.edit_local_history.sizePolicy().hasHeightForWidth())
+        self.edit_local_history.setSizePolicy(sizePolicy)
+        self.edit_local_history.setMinimumSize(QtCore.QSize(340, 0))
         font = QtGui.QFont()
         font.setPointSize(11)
         self.edit_local_history.setFont(font)
         self.edit_local_history.setReadOnly(True)
         self.edit_local_history.setObjectName("edit_local_history")
-        self.horizontalLayout_3.addWidget(self.edit_local_history)
-        self.gridLayout.addLayout(self.horizontalLayout_3, 2, 1, 1, 3)
-        self.gridLayout_4.addLayout(self.gridLayout, 0, 0, 1, 1)
+        self.horizontalLayout.addWidget(self.edit_local_history)
+        self.verticalLayout_4.addLayout(self.horizontalLayout)
+        self.gridLayout.addLayout(self.verticalLayout_4, 1, 1, 5, 2)
         self.gridLayout_3 = QtWidgets.QGridLayout()
         self.gridLayout_3.setObjectName("gridLayout_3")
         self.verticalLayout_2 = QtWidgets.QVBoxLayout()
@@ -162,7 +110,7 @@ class Ui_MainWindow(object):
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.img_label_map.sizePolicy().hasHeightForWidth())
         self.img_label_map.setSizePolicy(sizePolicy)
-        self.img_label_map.setMinimumSize(QtCore.QSize(300, 200))
+        self.img_label_map.setMinimumSize(QtCore.QSize(345, 200))
         self.img_label_map.setStyleSheet("border: 2px solid black;")
         self.img_label_map.setText("")
         self.img_label_map.setObjectName("img_label_map")
@@ -174,7 +122,7 @@ class Ui_MainWindow(object):
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.img_label_seg.sizePolicy().hasHeightForWidth())
         self.img_label_seg.setSizePolicy(sizePolicy)
-        self.img_label_seg.setMinimumSize(QtCore.QSize(280, 200))
+        self.img_label_seg.setMinimumSize(QtCore.QSize(250, 200))
         self.img_label_seg.setStyleSheet("border: 2px solid black;")
         self.img_label_seg.setText("")
         self.img_label_seg.setObjectName("img_label_seg")
@@ -186,7 +134,7 @@ class Ui_MainWindow(object):
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.img_label_obj.sizePolicy().hasHeightForWidth())
         self.img_label_obj.setSizePolicy(sizePolicy)
-        self.img_label_obj.setMinimumSize(QtCore.QSize(280, 200))
+        self.img_label_obj.setMinimumSize(QtCore.QSize(250, 200))
         self.img_label_obj.setStyleSheet("border: 2px solid black;")
         self.img_label_obj.setText("")
         self.img_label_obj.setObjectName("img_label_obj")
@@ -237,28 +185,118 @@ class Ui_MainWindow(object):
         self.horizontalLayout_4.addWidget(self.label_8)
         self.gridLayout_2.addLayout(self.horizontalLayout_4, 0, 0, 1, 1)
         self.gridLayout_3.addLayout(self.gridLayout_2, 0, 0, 1, 1)
-        self.gridLayout_4.addLayout(self.gridLayout_3, 1, 0, 1, 1)
+        self.gridLayout.addLayout(self.gridLayout_3, 6, 0, 1, 3)
+        self.verticalLayout_3 = QtWidgets.QVBoxLayout()
+        self.verticalLayout_3.setObjectName("verticalLayout_3")
+        self.textEdit_5 = QtWidgets.QTextEdit(self.centralwidget)
+        self.textEdit_5.setObjectName("textEdit_5")
+        self.verticalLayout_3.addWidget(self.textEdit_5)
+        self.gridLayout.addLayout(self.verticalLayout_3, 5, 0, 1, 1)
+        self.verticalLayout = QtWidgets.QVBoxLayout()
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.btn_reset = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.btn_reset.setFont(font)
+        self.btn_reset.setObjectName("btn_reset")
+        self.verticalLayout.addWidget(self.btn_reset)
+        self.btn_AEM = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.btn_AEM.setFont(font)
+        self.btn_AEM.setObjectName("btn_AEM")
+        self.verticalLayout.addWidget(self.btn_AEM)
+        self.btn_VLN = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.btn_VLN.setFont(font)
+        self.btn_VLN.setObjectName("btn_VLN")
+        self.verticalLayout.addWidget(self.btn_VLN)
+        self.btn_VLM = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.btn_VLM.setFont(font)
+        self.btn_VLM.setObjectName("btn_VLM")
+        self.verticalLayout.addWidget(self.btn_VLM)
+        self.btn_GQA = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.btn_GQA.setFont(font)
+        self.btn_GQA.setObjectName("btn_GQA")
+        self.verticalLayout.addWidget(self.btn_GQA)
+        self.btn_OT = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.btn_OT.setFont(font)
+        self.btn_OT.setObjectName("btn_OT")
+        self.verticalLayout.addWidget(self.btn_OT)
+        self.btn_AT = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.btn_AT.setFont(font)
+        self.btn_AT.setObjectName("btn_AT")
+        self.verticalLayout.addWidget(self.btn_AT)
+        self.comboBox = QtWidgets.QComboBox(self.centralwidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Minimum)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.comboBox.sizePolicy().hasHeightForWidth())
+        self.comboBox.setSizePolicy(sizePolicy)
+        self.comboBox.setMinimumSize(QtCore.QSize(0, 25))
+        self.comboBox.setCurrentText("")
+        self.comboBox.setInsertPolicy(QtWidgets.QComboBox.InsertAtBottom)
+        self.comboBox.setObjectName("comboBox")
+        self.verticalLayout.addWidget(self.comboBox)
+        self.gridLayout.addLayout(self.verticalLayout, 1, 0, 1, 1)
+        self.label_9 = QtWidgets.QLabel(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("等线")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.label_9.setFont(font)
+        self.label_9.setObjectName("label_9")
+        self.gridLayout.addWidget(self.label_9, 0, 0, 1, 1)
+        self.btn_say = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.btn_say.setFont(font)
+        self.btn_say.setObjectName("btn_say")
+        self.gridLayout.addWidget(self.btn_say, 0, 2, 1, 1)
+        self.label = QtWidgets.QLabel(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("黑体")
+        font.setPointSize(14)
+        self.label.setFont(font)
+        self.label.setObjectName("label")
+        self.gridLayout.addWidget(self.label, 4, 0, 1, 1)
+        self.edit_say = QtWidgets.QLineEdit(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("Times New Roman")
+        font.setPointSize(14)
+        self.edit_say.setFont(font)
+        self.edit_say.setObjectName("edit_say")
+        self.gridLayout.addWidget(self.edit_say, 0, 1, 1, 1)
         MainWindow.setCentralWidget(self.centralwidget)
         self.statusbar = QtWidgets.QStatusBar(MainWindow)
         self.statusbar.setObjectName("statusbar")
         MainWindow.setStatusBar(self.statusbar)
 
         self.retranslateUi(MainWindow)
+        self.comboBox.setCurrentIndex(-1)
         QtCore.QMetaObject.connectSlotsByName(MainWindow)
 
     def retranslateUi(self, MainWindow):
         _translate = QtCore.QCoreApplication.translate
         MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
-        self.label_9.setText(_translate("MainWindow", "任务演示：（播放动画时需等待动画播放完毕才会重置场景）"))
-        self.edit_say.setText(_translate("MainWindow", "Is(AC,On)"))
-        self.btn_say.setText(_translate("MainWindow", "说话"))
-        self.btn_AEM.setText(_translate("MainWindow", "环境主动探索"))
-        self.btn_VLN.setText(_translate("MainWindow", "视觉语言导航"))
-        self.btn_VLM.setText(_translate("MainWindow", "视觉语言操作"))
-        self.btn_GQA.setText(_translate("MainWindow", "具身多轮对话"))
-        self.btn_OT.setText(_translate("MainWindow", "开放具身任务"))
-        self.btn_AT.setText(_translate("MainWindow", "自主具身任务"))
-        self.btn_reset.setText(_translate("MainWindow", "重置"))
         self.label_10.setText(_translate("MainWindow", "顾客列表："))
         self.label_11.setText(_translate("MainWindow", "顾客历史对话："))
         __sortingEnabled = self.list_customer.isSortingEnabled()
@@ -272,6 +310,18 @@ class Ui_MainWindow(object):
         self.label_6.setText(_translate("MainWindow", "可达性地图"))
         self.label_7.setText(_translate("MainWindow", "实例分割"))
         self.label_8.setText(_translate("MainWindow", "目标检测"))
+        self.btn_reset.setText(_translate("MainWindow", "重置场景"))
+        self.btn_AEM.setText(_translate("MainWindow", "环境主动探索"))
+        self.btn_VLN.setText(_translate("MainWindow", "视觉语言导航"))
+        self.btn_VLM.setText(_translate("MainWindow", "视觉语言操作"))
+        self.btn_GQA.setText(_translate("MainWindow", "具身多轮对话"))
+        self.btn_OT.setText(_translate("MainWindow", "开放具身任务"))
+        self.btn_AT.setText(_translate("MainWindow", "自主具身任务"))
+        self.comboBox.setPlaceholderText(_translate("MainWindow", "其他任务"))
+        self.label_9.setText(_translate("MainWindow", "任务演示：（播放动画时需等待动画播放完毕才会重置场景）"))
+        self.btn_say.setText(_translate("MainWindow", "说话"))
+        self.label.setText(_translate("MainWindow", "语义信息"))
+        self.edit_say.setText(_translate("MainWindow", "Is(AC,On)"))
 
 
 if __name__ == "__main__":
diff --git a/robowaiter/scene/ui/window.ui b/robowaiter/scene/ui/window.ui
index 790d9e4..ac4d897 100644
--- a/robowaiter/scene/ui/window.ui
+++ b/robowaiter/scene/ui/window.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>896</width>
+    <width>895</width>
     <height>967</height>
    </rect>
   </property>
@@ -17,149 +17,22 @@
    <bool>false</bool>
   </property>
   <widget class="QWidget" name="centralwidget">
-   <layout class="QGridLayout" name="gridLayout_4">
-    <item row="0" column="0">
-     <layout class="QGridLayout" name="gridLayout">
-      <item row="0" column="0" colspan="2">
-       <widget class="QLabel" name="label_9">
-        <property name="font">
-         <font>
-          <family>等线</family>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>任务演示：（播放动画时需等待动画播放完毕才会重置场景）</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLineEdit" name="edit_say">
-        <property name="font">
-         <font>
-          <family>Times New Roman</family>
-          <pointsize>14</pointsize>
-         </font>
-        </property>
-        <property name="text">
-         <string>Is(AC,On)</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QPushButton" name="btn_say">
-        <property name="font">
-         <font>
-          <family>黑体</family>
-          <pointsize>14</pointsize>
-         </font>
-        </property>
-        <property name="text">
-         <string>说话</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0" rowspan="2">
-       <layout class="QVBoxLayout" name="verticalLayout">
-        <item>
-         <widget class="QPushButton" name="btn_AEM">
-          <property name="font">
-           <font>
-            <family>黑体</family>
-            <pointsize>14</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>环境主动探索</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="btn_VLN">
-          <property name="font">
-           <font>
-            <family>黑体</family>
-            <pointsize>14</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>视觉语言导航</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="btn_VLM">
-          <property name="font">
-           <font>
-            <family>黑体</family>
-            <pointsize>14</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>视觉语言操作</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="btn_GQA">
-          <property name="font">
-           <font>
-            <family>黑体</family>
-            <pointsize>14</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>具身多轮对话</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="btn_OT">
-          <property name="font">
-           <font>
-            <family>黑体</family>
-            <pointsize>14</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>开放具身任务</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="btn_AT">
-          <property name="font">
-           <font>
-            <family>黑体</family>
-            <pointsize>14</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>自主具身任务</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="btn_reset">
-          <property name="font">
-           <font>
-            <family>黑体</family>
-            <pointsize>14</pointsize>
-           </font>
-          </property>
-          <property name="text">
-           <string>重置</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item row="1" column="1" colspan="3">
+   <layout class="QGridLayout" name="gridLayout">
+    <item row="1" column="1" rowspan="5" colspan="2">
+     <layout class="QVBoxLayout" name="verticalLayout_4">
+      <item>
        <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="spacing">
+         <number>100</number>
+        </property>
         <item>
          <widget class="QLabel" name="label_10">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
           <property name="font">
            <font>
             <family>黑体</family>
@@ -173,6 +46,12 @@
         </item>
         <item>
          <widget class="QLabel" name="label_11">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
           <property name="font">
            <font>
             <family>黑体</family>
@@ -186,10 +65,22 @@
         </item>
        </layout>
       </item>
-      <item row="2" column="1" colspan="3">
-       <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
         <item>
          <widget class="QListWidget" name="list_customer">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>50</width>
+            <height>250</height>
+           </size>
+          </property>
           <property name="font">
            <font>
             <pointsize>11</pointsize>
@@ -212,6 +103,18 @@
           <property name="enabled">
            <bool>true</bool>
           </property>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>340</width>
+            <height>0</height>
+           </size>
+          </property>
           <property name="font">
            <font>
             <pointsize>11</pointsize>
@@ -226,7 +129,7 @@
       </item>
      </layout>
     </item>
-    <item row="1" column="0">
+    <item row="6" column="0" colspan="3">
      <layout class="QGridLayout" name="gridLayout_3">
       <item row="1" column="0">
        <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -265,7 +168,7 @@
             </property>
             <property name="minimumSize">
              <size>
-              <width>300</width>
+              <width>345</width>
               <height>200</height>
              </size>
             </property>
@@ -290,7 +193,7 @@
             </property>
             <property name="minimumSize">
              <size>
-              <width>280</width>
+              <width>250</width>
               <height>200</height>
              </size>
             </property>
@@ -315,7 +218,7 @@
             </property>
             <property name="minimumSize">
              <size>
-              <width>280</width>
+              <width>250</width>
               <height>200</height>
              </size>
             </property>
@@ -418,6 +321,190 @@
       </item>
      </layout>
     </item>
+    <item row="5" column="0">
+     <layout class="QVBoxLayout" name="verticalLayout_3">
+      <item>
+       <widget class="QTextEdit" name="textEdit_5"/>
+      </item>
+     </layout>
+    </item>
+    <item row="1" column="0">
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <widget class="QPushButton" name="btn_reset">
+        <property name="font">
+         <font>
+          <family>黑体</family>
+          <pointsize>14</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>重置场景</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_AEM">
+        <property name="font">
+         <font>
+          <family>黑体</family>
+          <pointsize>14</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>环境主动探索</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_VLN">
+        <property name="font">
+         <font>
+          <family>黑体</family>
+          <pointsize>14</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>视觉语言导航</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_VLM">
+        <property name="font">
+         <font>
+          <family>黑体</family>
+          <pointsize>14</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>视觉语言操作</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_GQA">
+        <property name="font">
+         <font>
+          <family>黑体</family>
+          <pointsize>14</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>具身多轮对话</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_OT">
+        <property name="font">
+         <font>
+          <family>黑体</family>
+          <pointsize>14</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>开放具身任务</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_AT">
+        <property name="font">
+         <font>
+          <family>黑体</family>
+          <pointsize>14</pointsize>
+         </font>
+        </property>
+        <property name="text">
+         <string>自主具身任务</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QComboBox" name="comboBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="currentText">
+         <string/>
+        </property>
+        <property name="currentIndex">
+         <number>-1</number>
+        </property>
+        <property name="insertPolicy">
+         <enum>QComboBox::InsertAtBottom</enum>
+        </property>
+        <property name="placeholderText">
+         <string>其他任务</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="0" column="0">
+     <widget class="QLabel" name="label_9">
+      <property name="font">
+       <font>
+        <family>等线</family>
+        <pointsize>10</pointsize>
+        <weight>75</weight>
+        <bold>true</bold>
+       </font>
+      </property>
+      <property name="text">
+       <string>任务演示：（播放动画时需等待动画播放完毕才会重置场景）</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="2">
+     <widget class="QPushButton" name="btn_say">
+      <property name="font">
+       <font>
+        <family>黑体</family>
+        <pointsize>14</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>说话</string>
+      </property>
+     </widget>
+    </item>
+    <item row="4" column="0">
+     <widget class="QLabel" name="label">
+      <property name="font">
+       <font>
+        <family>黑体</family>
+        <pointsize>14</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>语义信息</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QLineEdit" name="edit_say">
+      <property name="font">
+       <font>
+        <family>Times New Roman</family>
+        <pointsize>14</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>Is(AC,On)</string>
+      </property>
+     </widget>
+    </item>
    </layout>
   </widget>
   <widget class="QStatusBar" name="statusbar"/>