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

@ -747,7 +747,7 @@
{At(Robot,Table1)} {At(Robot,Table1)}
{At(Robot,Table2)} {At(Robot,Table2)}
{At(Robot,Table3)} {At(Robot,Table3)}
At(Robot, Table1) {At(Robot, Table3)}
{On(Softdrink,Bar)} {On(Softdrink,Bar)}
{On(Softdrink,WaterTable)} {On(Softdrink,WaterTable)}
{On(Softdrink,CoffeeTable)} {On(Softdrink,CoffeeTable)}
@ -1476,28 +1476,28 @@ At(Robot, Table1)
{On(Nothing,Table1)} {On(Nothing,Table1)}
{On(Nothing,Table2)} {On(Nothing,Table2)}
{On(Nothing,Table3)} {On(Nothing,Table3)}
On(Nothing, WaterTable) {On(VacuumCup, Table2)}
On(MilkDrink, CoffeeTable) {On(VacuumCup, WaterTable)}
On(Softdrink, Bar2) {On(BottledDrink, Table2)}
On(Softdrink, WaterTable) {On(MilkDrink, Table2)}
On(MilkDrink, CoffeeTable) {On(ADMilk, CoffeeTable)}
On(Yogurt, Table2) {On(Softdrink, Table2)}
On(BottledDrink, Table1) {On(Nothing, WaterTable)}
On(Softdrink, Table1) {On(Milk, Bar)}
On(MilkDrink, WaterTable) {On(Milk, WaterTable)}
On(Softdrink, WaterTable) {On(Nothing, Bar2)}
On(VacuumCup, Table1) {On(BottledDrink, CoffeeTable)}
On(Yogurt, Table1) {On(Nothing, Table3)}
On(ADMilk, Table3) {On(Softdrink, Table2)}
On(BottledDrink, Table2) {On(Nothing, WaterTable)}
On(Softdrink, Bar2) {On(BottledDrink, WaterTable)}
On(Nothing, Bar) {On(Milk, Table3)}
On(ADMilk, Bar2) {On(Milk, CoffeeTable)}
On(ADMilk, Table3) {On(Nothing, Table1)}
On(BottledDrink, Bar) {On(MilkDrink, Bar2)}
On(Yogurt, Bar) {On(ADMilk, Table3)}
On(VacuumCup, Table3) {On(BottledDrink, Table1)}
On(MilkDrink, Bar2) {On(Yogurt, WaterTable)}
{Is(AC,Off)} {Is(AC,Off)}
{Is(AC,On)} {Is(AC,On)}
{Is(ACTemperature,Up)} {Is(ACTemperature,Up)}
@ -2744,10 +2744,10 @@ On(MilkDrink, Bar2)
{Holding(Milk)} {Holding(Milk)}
{Holding(VacuumCup)} {Holding(VacuumCup)}
{Holding(Nothing)} {Holding(Nothing)}
Holding(Nothing) {Holding(Softdrink)}
Holding(Nothing) {Holding(Milk)}
Holding(MilkDrink) {Holding(BottledDrink)}
Holding(VacuumCup) {Holding(Nothing)}
{On(Coffee,Bar)} {On(Coffee,Bar)}
{On(Coffee,WaterTable)} {On(Coffee,WaterTable)}
{On(Coffee,CoffeeTable)} {On(Coffee,CoffeeTable)}
@ -3483,21 +3483,21 @@ Holding(VacuumCup)
{On(Dessert,Table1)} {On(Dessert,Table1)}
{On(Dessert,Table2)} {On(Dessert,Table2)}
{On(Dessert,Table3)} {On(Dessert,Table3)}
On(Dessert, Bar2) {On(Coffee, CoffeeTable)}
On(Dessert, Bar2) {On(Water, WaterTable)}
On(Water, Bar) {On(Water, CoffeeTable)}
On(Water, Table1) {On(Dessert, WaterTable)}
On(Water, Bar2) {On(Water, Table1)}
On(Coffee, Bar) {On(Coffee, WaterTable)}
On(Water, Bar) {On(Water, CoffeeTable)}
On(Coffee, Bar2) {On(Dessert, Table1)}
On(Dessert, Table3) {On(Coffee, Bar)}
On(Coffee, WaterTable) {On(Coffee, Table3)}
On(Dessert, WaterTable) {On(Coffee, Bar2)}
On(Water, Table3) {On(Coffee, Table2)}
On(Coffee, Table2) {On(Water, Bar2)}
On(Water, Table3) {On(Dessert, Bar)}
On(Dessert, Table2) {On(Coffee, WaterTable)}
{At(Robot,Bar),On(Softdrink,Bar)} {At(Robot,Bar),On(Softdrink,Bar)}
{At(Robot,Bar),On(Softdrink,WaterTable)} {At(Robot,Bar),On(Softdrink,WaterTable)}
{At(Robot,Bar),On(Softdrink,CoffeeTable)} {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: if count_vln < point_15:
list_vln *= point_15 // count_vln list_vln *= point_15 // count_vln
for i in range(0, point_15 - len(list_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}') # print(f'VLN 任务的目标状态数：{count_vln}')
res += list_vln res += list_vln
@ -118,7 +118,7 @@ def enumerate_goal_states(total: int):
if count_vlm_1 < point_15: if count_vlm_1 < point_15:
list_vlm_1 *= point_15 // count_vlm_1 list_vlm_1 *= point_15 // count_vlm_1
for i in range(0, point_15 - len(list_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 res += list_vlm_1
# goal states for VLM-2, 0.15 # goal states for VLM-2, 0.15
@ -127,7 +127,7 @@ def enumerate_goal_states(total: int):
if count_vlm_2 < point_15: if count_vlm_2 < point_15:
list_vlm_2 *= point_15 // count_vlm_2 list_vlm_2 *= point_15 // count_vlm_2
for i in range(0, point_15 - len(list_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 res += list_vlm_2
# goal states for VLM-3, 0.1 # goal states for VLM-3, 0.1
@ -136,7 +136,7 @@ def enumerate_goal_states(total: int):
if count_vlm_3 < point_10: if count_vlm_3 < point_10:
list_vlm_3 *= point_10 // count_vlm_3 list_vlm_3 *= point_10 // count_vlm_3
for i in range(0, point_10 - len(list_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 res += list_vlm_3
# goal states for OT, 0.15 # goal states for OT, 0.15
@ -145,7 +145,7 @@ def enumerate_goal_states(total: int):
if count_ot < point_15: if count_ot < point_15:
list_ot *= point_15 // count_ot list_ot *= point_15 // count_ot
for i in range(0, point_15 - len(list_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 res += list_ot
# goal states for compound-1, 0.1 # goal states for compound-1, 0.1