EmbodiedAI
/
RoboWaiter
mirror of https://github.com/HPCL-EI/RoboWaiter.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

New: 完成目标状态数据集的构建

This commit is contained in:
wuziji 2023-11-14 16:54:30 +08:00
parent f73245c13a
commit 5ad86fe560
2 changed files with 47 additions and 47 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

84
robowaiter/behavior_tree/dataset/goal_states.txt
View File

@ -747,7 +747,7 @@
{At(Robot,Table1)}
{At(Robot,Table2)}
{At(Robot,Table3)}
At(Robot, Table1)
{At(Robot, Table3)}
{On(Softdrink,Bar)}
{On(Softdrink,WaterTable)}
{On(Softdrink,CoffeeTable)}
@ -1476,28 +1476,28 @@ At(Robot, Table1)
{On(Nothing,Table1)}
{On(Nothing,Table2)}
{On(Nothing,Table3)}
On(Nothing, WaterTable)
On(MilkDrink, CoffeeTable)
On(Softdrink, Bar2)
On(Softdrink, WaterTable)
On(MilkDrink, CoffeeTable)
On(Yogurt, Table2)
On(BottledDrink, Table1)
On(Softdrink, Table1)
On(MilkDrink, WaterTable)
On(Softdrink, WaterTable)
On(VacuumCup, Table1)
On(Yogurt, Table1)
On(ADMilk, Table3)
On(BottledDrink, Table2)
On(Softdrink, Bar2)
On(Nothing, Bar)
On(ADMilk, Bar2)
On(ADMilk, Table3)
On(BottledDrink, Bar)
On(Yogurt, Bar)
On(VacuumCup, Table3)
On(MilkDrink, Bar2)
{On(VacuumCup, Table2)}
{On(VacuumCup, WaterTable)}
{On(BottledDrink, Table2)}
{On(MilkDrink, Table2)}
{On(ADMilk, CoffeeTable)}
{On(Softdrink, Table2)}
{On(Nothing, WaterTable)}
{On(Milk, Bar)}
{On(Milk, WaterTable)}
{On(Nothing, Bar2)}
{On(BottledDrink, CoffeeTable)}
{On(Nothing, Table3)}
{On(Softdrink, Table2)}
{On(Nothing, WaterTable)}
{On(BottledDrink, WaterTable)}
{On(Milk, Table3)}
{On(Milk, CoffeeTable)}
{On(Nothing, Table1)}
{On(MilkDrink, Bar2)}
{On(ADMilk, Table3)}
{On(BottledDrink, Table1)}
{On(Yogurt, WaterTable)}
{Is(AC,Off)}
{Is(AC,On)}
{Is(ACTemperature,Up)}
@ -2744,10 +2744,10 @@ On(MilkDrink, Bar2)
{Holding(Milk)}
{Holding(VacuumCup)}
{Holding(Nothing)}
Holding(Nothing)
Holding(Nothing)
Holding(MilkDrink)
Holding(VacuumCup)
{Holding(Softdrink)}
{Holding(Milk)}
{Holding(BottledDrink)}
{Holding(Nothing)}
{On(Coffee,Bar)}
{On(Coffee,WaterTable)}
{On(Coffee,CoffeeTable)}
@ -3483,21 +3483,21 @@ Holding(VacuumCup)
{On(Dessert,Table1)}
{On(Dessert,Table2)}
{On(Dessert,Table3)}
On(Dessert, Bar2)
On(Dessert, Bar2)
On(Water, Bar)
On(Water, Table1)
On(Water, Bar2)
On(Coffee, Bar)
On(Water, Bar)
On(Coffee, Bar2)
On(Dessert, Table3)
On(Coffee, WaterTable)
On(Dessert, WaterTable)
On(Water, Table3)
On(Coffee, Table2)
On(Water, Table3)
On(Dessert, Table2)
{On(Coffee, CoffeeTable)}
{On(Water, WaterTable)}
{On(Water, CoffeeTable)}
{On(Dessert, WaterTable)}
{On(Water, Table1)}
{On(Coffee, WaterTable)}
{On(Water, CoffeeTable)}
{On(Dessert, Table1)}
{On(Coffee, Bar)}
{On(Coffee, Table3)}
{On(Coffee, Bar2)}
{On(Coffee, Table2)}
{On(Water, Bar2)}
{On(Dessert, Bar)}
{On(Coffee, WaterTable)}
{At(Robot,Bar),On(Softdrink,Bar)}
{At(Robot,Bar),On(Softdrink,WaterTable)}
{At(Robot,Bar),On(Softdrink,CoffeeTable)}

10
robowaiter/behavior_tree/dataset/goal_states_generation.py
View File

@ -108,7 +108,7 @@ def enumerate_goal_states(total: int):
if count_vln < point_15:
list_vln *= point_15 // count_vln
for i in range(0, point_15 - len(list_vln)):
list_vln.append(single_predict_generation(['Robot'], Place, 'at'))
list_vln.append('{%s}' % single_predict_generation(['Robot'], Place, 'at'))
# print(f'VLN 任务的目标状态数：{count_vln}')
res += list_vln
@ -118,7 +118,7 @@ def enumerate_goal_states(total: int):
if count_vlm_1 < point_15:
list_vlm_1 *= point_15 // count_vlm_1
for i in range(0, point_15 - len(list_vlm_1)):
list_vlm_1.append(single_predict_generation(Object, Place, 'on'))
list_vlm_1.append('{%s}' % (single_predict_generation(Object, Place, 'on')))
res += list_vlm_1
# goal states for VLM-2, 0.15
@ -127,7 +127,7 @@ def enumerate_goal_states(total: int):
if count_vlm_2 < point_15:
list_vlm_2 *= point_15 // count_vlm_2
for i in range(0, point_15 - len(list_vlm_2)):
list_vlm_2.append(single_predict_generation(Operable, ['0', '1'], 'is'))
list_vlm_2.append('{%s}' % single_predict_generation(Operable, ['0', '1'], 'is'))
res += list_vlm_2
# goal states for VLM-3, 0.1
@ -136,7 +136,7 @@ def enumerate_goal_states(total: int):
if count_vlm_3 < point_10:
list_vlm_3 *= point_10 // count_vlm_3
for i in range(0, point_10 - len(list_vlm_3)):
list_vlm_3.append(single_predict_generation(Object, None, 'hold'))
list_vlm_3.append('{%s}' % single_predict_generation(Object, None, 'hold'))
res += list_vlm_3
# goal states for OT, 0.15
@ -145,7 +145,7 @@ def enumerate_goal_states(total: int):
if count_ot < point_15:
list_ot *= point_15 // count_ot
for i in range(0, point_15 - len(list_ot)):
list_ot.append(single_predict_generation(Cookable, Place, 'on'))
list_ot.append('{%s}' % single_predict_generation(Cookable, Place, 'on'))
res += list_ot
# goal states for compound-1, 0.1