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+{On(Coffee,WaterTable),Is(ACTemperature,Up)} +{On(Coffee,WaterTable),Is(ACTemperature,Down)} +{On(Coffee,WaterTable),Is(HallLight,Off)} +{On(Coffee,WaterTable),Is(HallLight,On)} +{On(Coffee,WaterTable),Is(TubeLight,Off)} +{On(Coffee,WaterTable),Is(TubeLight,On)} +{On(Coffee,WaterTable),Is(Curtain,Off)} +{On(Coffee,WaterTable),Is(Curtain,On)} +{On(Coffee,CoffeeTable),Is(AC,Off)} +{On(Coffee,CoffeeTable),Is(AC,On)} +{On(Coffee,CoffeeTable),Is(ACTemperature,Up)} +{On(Coffee,CoffeeTable),Is(ACTemperature,Down)} +{On(Coffee,CoffeeTable),Is(HallLight,Off)} +{On(Coffee,CoffeeTable),Is(HallLight,On)} +{On(Coffee,CoffeeTable),Is(TubeLight,Off)} +{On(Coffee,CoffeeTable),Is(TubeLight,On)} +{On(Coffee,CoffeeTable),Is(Curtain,Off)} +{On(Coffee,CoffeeTable),Is(Curtain,On)} +{On(Coffee,Bar2),Is(AC,Off)} +{On(Coffee,Bar2),Is(AC,On)} +{On(Coffee,Bar2),Is(ACTemperature,Up)} +{On(Coffee,Bar2),Is(ACTemperature,Down)} +{On(Coffee,Bar2),Is(HallLight,Off)} +{On(Coffee,Bar2),Is(HallLight,On)} +{On(Coffee,Bar2),Is(TubeLight,Off)} +{On(Coffee,Bar2),Is(TubeLight,On)} +{On(Coffee,Bar2),Is(Curtain,Off)} +{On(Coffee,Bar2),Is(Curtain,On)} +{On(Coffee,TableOn),Is(AC,Off)} +{On(Coffee,TableOn),Is(AC,On)} +{On(Coffee,TableDown),Is(ACTemperature,Up)} +{On(Coffee,TableDown),Is(ACTemperature,Down)} +{On(Coffee,TableOn),Is(HallLight,Off)} +{On(Coffee,TableOn),Is(HallLight,On)} +{On(Coffee,TableOn),Is(TubeLight,Off)} +{On(Coffee,TableOn),Is(TubeLight,On)} +{On(Coffee,TableOn),Is(Curtain,Off)} +{On(Coffee,TableOn),Is(Curtain,On)} +{On(Coffee,Table2),Is(AC,Off)} +{On(Coffee,Table2),Is(AC,On)} +{On(Coffee,Table2),Is(ACTemperature,Up)} +{On(Coffee,Table2),Is(ACTemperature,Down)} +{On(Coffee,Table2),Is(HallLight,Off)} +{On(Coffee,Table2),Is(HallLight,On)} +{On(Coffee,Table2),Is(TubeLight,Off)} +{On(Coffee,Table2),Is(TubeLight,On)} +{On(Coffee,Table2),Is(Curtain,Off)} +{On(Coffee,Table2),Is(Curtain,On)} +{On(Coffee,Table3),Is(AC,Off)} +{On(Coffee,Table3),Is(AC,On)} +{On(Coffee,Table3),Is(ACTemperature,Up)} +{On(Coffee,Table3),Is(ACTemperature,Down)} +{On(Coffee,Table3),Is(HallLight,Off)} +{On(Coffee,Table3),Is(HallLight,On)} +{On(Coffee,Table3),Is(TubeLight,Off)} +{On(Coffee,Table3),Is(TubeLight,On)} +{On(Coffee,Table3),Is(Curtain,Off)} +{On(Coffee,Table3),Is(Curtain,On)} +{On(Water,Bar),Is(AC,Off)} +{On(Water,Bar),Is(AC,On)} +{On(Water,Bar),Is(ACTemperature,Up)} +{On(Water,Bar),Is(ACTemperature,Down)} +{On(Water,Bar),Is(HallLight,Off)} +{On(Water,Bar),Is(HallLight,On)} +{On(Water,Bar),Is(TubeLight,Off)} +{On(Water,Bar),Is(TubeLight,On)} +{On(Water,Bar),Is(Curtain,Off)} +{On(Water,Bar),Is(Curtain,On)} +{On(Water,WaterTable),Is(AC,Off)} +{On(Water,WaterTable),Is(AC,On)} +{On(Water,WaterTable),Is(ACTemperature,Up)} +{On(Water,WaterTable),Is(ACTemperature,Down)} +{On(Water,WaterTable),Is(HallLight,Off)} +{On(Water,WaterTable),Is(HallLight,On)} +{On(Water,WaterTable),Is(TubeLight,Off)} +{On(Water,WaterTable),Is(TubeLight,On)} +{On(Water,WaterTable),Is(Curtain,Off)} +{On(Water,WaterTable),Is(Curtain,On)} +{On(Water,CoffeeTable),Is(AC,Off)} +{On(Water,CoffeeTable),Is(AC,On)} +{On(Water,CoffeeTable),Is(ACTemperature,Up)} +{On(Water,CoffeeTable),Is(ACTemperature,Down)} +{On(Water,CoffeeTable),Is(HallLight,Off)} +{On(Water,CoffeeTable),Is(HallLight,On)} +{On(Water,CoffeeTable),Is(TubeLight,Off)} +{On(Water,CoffeeTable),Is(TubeLight,On)} +{On(Water,CoffeeTable),Is(Curtain,Off)} +{On(Water,CoffeeTable),Is(Curtain,On)} +{On(Water,Bar2),Is(AC,Off)} +{On(Water,Bar2),Is(AC,On)} +{On(Water,Bar2),Is(ACTemperature,Up)} +{On(Water,Bar2),Is(ACTemperature,Down)} +{On(Water,Bar2),Is(HallLight,Off)} +{On(Water,Bar2),Is(HallLight,On)} +{On(Water,Bar2),Is(TubeLight,Off)} +{On(Water,Bar2),Is(TubeLight,On)} +{On(Water,Bar2),Is(Curtain,Off)} +{On(Water,Bar2),Is(Curtain,On)} +{On(Water,TableOn),Is(AC,Off)} +{On(Water,TableOn),Is(AC,On)} +{On(Water,TableDown),Is(ACTemperature,Up)} +{On(Water,TableDown),Is(ACTemperature,Down)} +{On(Water,TableOn),Is(HallLight,Off)} +{On(Water,TableOn),Is(HallLight,On)} +{On(Water,TableOn),Is(TubeLight,Off)} +{On(Water,TableOn),Is(TubeLight,On)} +{On(Water,TableOn),Is(Curtain,Off)} +{On(Water,TableOn),Is(Curtain,On)} +{On(Water,Table2),Is(AC,Off)} +{On(Water,Table2),Is(AC,On)} +{On(Water,Table2),Is(ACTemperature,Up)} +{On(Water,Table2),Is(ACTemperature,Down)} +{On(Water,Table2),Is(HallLight,Off)} +{On(Water,Table2),Is(HallLight,On)} +{On(Water,Table2),Is(TubeLight,Off)} +{On(Water,Table2),Is(TubeLight,On)} +{On(Water,Table2),Is(Curtain,Off)} +{On(Water,Table2),Is(Curtain,On)} +{On(Water,Table3),Is(AC,Off)} +{On(Water,Table3),Is(AC,On)} +{On(Water,Table3),Is(ACTemperature,Up)} +{On(Water,Table3),Is(ACTemperature,Down)} +{On(Water,Table3),Is(HallLight,Off)} +{On(Water,Table3),Is(HallLight,On)} +{On(Water,Table3),Is(TubeLight,Off)} +{On(Water,Table3),Is(TubeLight,On)} +{On(Water,Table3),Is(Curtain,Off)} +{On(Water,Table3),Is(Curtain,On)} +{On(Dessert,Bar),Is(AC,Off)} +{On(Dessert,Bar),Is(AC,On)} +{On(Dessert,Bar),Is(ACTemperature,Up)} +{On(Dessert,Bar),Is(ACTemperature,Down)} +{On(Dessert,Bar),Is(HallLight,Off)} +{On(Dessert,Bar),Is(HallLight,On)} +{On(Dessert,Bar),Is(TubeLight,Off)} +{On(Dessert,Bar),Is(TubeLight,On)} +{On(Dessert,Bar),Is(Curtain,Off)} +{On(Dessert,Bar),Is(Curtain,On)} +{On(Dessert,WaterTable),Is(AC,Off)} +{On(Dessert,WaterTable),Is(AC,On)} +{On(Dessert,WaterTable),Is(ACTemperature,Up)} +{On(Dessert,WaterTable),Is(ACTemperature,Down)} +{On(Dessert,WaterTable),Is(HallLight,Off)} +{On(Dessert,WaterTable),Is(HallLight,On)} +{On(Dessert,WaterTable),Is(TubeLight,Off)} +{On(Dessert,WaterTable),Is(TubeLight,On)} +{On(Dessert,WaterTable),Is(Curtain,Off)} +{On(Dessert,WaterTable),Is(Curtain,On)} +{On(Dessert,CoffeeTable),Is(AC,Off)} +{On(Dessert,CoffeeTable),Is(AC,On)} +{On(Dessert,CoffeeTable),Is(ACTemperature,Up)} +{On(Dessert,CoffeeTable),Is(ACTemperature,Down)} +{On(Dessert,CoffeeTable),Is(HallLight,Off)} +{On(Dessert,CoffeeTable),Is(HallLight,On)} +{On(Dessert,CoffeeTable),Is(TubeLight,Off)} +{On(Dessert,CoffeeTable),Is(TubeLight,On)} +{On(Dessert,CoffeeTable),Is(Curtain,Off)} +{On(Dessert,CoffeeTable),Is(Curtain,On)} +{On(Dessert,Bar2),Is(AC,Off)} +{On(Dessert,Bar2),Is(AC,On)} +{On(Dessert,Bar2),Is(ACTemperature,Up)} +{On(Dessert,Bar2),Is(ACTemperature,Down)} +{On(Dessert,Bar2),Is(HallLight,Off)} +{On(Dessert,Bar2),Is(HallLight,On)} +{On(Dessert,Bar2),Is(TubeLight,Off)} +{On(Dessert,Bar2),Is(TubeLight,On)} +{On(Dessert,Bar2),Is(Curtain,Off)} +{On(Dessert,Bar2),Is(Curtain,On)} +{On(Dessert,TableOn),Is(AC,Off)} +{On(Dessert,TableOn),Is(AC,On)} +{On(Dessert,TableDown),Is(ACTemperature,Up)} +{On(Dessert,TableDown),Is(ACTemperature,Down)} +{On(Dessert,TableOn),Is(HallLight,Off)} +{On(Dessert,TableOn),Is(HallLight,On)} +{On(Dessert,TableOn),Is(TubeLight,Off)} +{On(Dessert,TableOn),Is(TubeLight,On)} +{On(Dessert,TableOn),Is(Curtain,Off)} +{On(Dessert,TableOn),Is(Curtain,On)} +{On(Dessert,Table2),Is(AC,Off)} +{On(Dessert,Table2),Is(AC,On)} +{On(Dessert,Table2),Is(ACTemperature,Up)} +{On(Dessert,Table2),Is(ACTemperature,Down)} +{On(Dessert,Table2),Is(HallLight,Off)} +{On(Dessert,Table2),Is(HallLight,On)} +{On(Dessert,Table2),Is(TubeLight,Off)} +{On(Dessert,Table2),Is(TubeLight,On)} +{On(Dessert,Table2),Is(Curtain,Off)} +{On(Dessert,Table2),Is(Curtain,On)} +{On(Dessert,Table3),Is(AC,Off)} +{On(Dessert,Table3),Is(AC,On)} +{On(Dessert,Table3),Is(ACTemperature,Up)} +{On(Dessert,Table3),Is(ACTemperature,Down)} +{On(Dessert,Table3),Is(HallLight,Off)} +{On(Dessert,Table3),Is(HallLight,On)} +{On(Dessert,Table3),Is(TubeLight,Off)} +{On(Dessert,Table3),Is(TubeLight,On)} +{On(Dessert,Table3),Is(Curtain,Off)} +{On(Dessert,Table3),Is(Curtain,On)} +{On(Coffee,Bar),Is(AC,Off)} +{On(Coffee,Bar),Is(AC,On)} +{On(Coffee,Bar),Is(ACTemperature,Up)} +{On(Coffee,Bar),Is(ACTemperature,Down)} +{On(Coffee,Bar),Is(HallLight,Off)} +{On(Coffee,Bar),Is(HallLight,On)} +{On(Coffee,Bar),Is(TubeLight,Off)} +{On(Coffee,Bar),Is(TubeLight,On)} +{On(Coffee,Bar),Is(Curtain,Off)} +{On(Coffee,Bar),Is(Curtain,On)} +{On(Coffee,WaterTable),Is(AC,Off)} +{On(Coffee,WaterTable),Is(AC,On)} +{On(Coffee,WaterTable),Is(ACTemperature,Up)} +{On(Coffee,WaterTable),Is(ACTemperature,Down)} +{On(Coffee,WaterTable),Is(HallLight,Off)} +{On(Coffee,WaterTable),Is(HallLight,On)} +{On(Coffee,WaterTable),Is(TubeLight,Off)} +{On(Coffee,WaterTable),Is(TubeLight,On)} +{On(Coffee,WaterTable),Is(Curtain,Off)} +{On(Coffee,WaterTable),Is(Curtain,On)} +{On(Coffee,CoffeeTable),Is(AC,Off)} +{On(Coffee,CoffeeTable),Is(AC,On)} +{On(Coffee,CoffeeTable),Is(ACTemperature,Up)} +{On(Coffee,CoffeeTable),Is(ACTemperature,Down)} +{On(Coffee,CoffeeTable),Is(HallLight,Off)} +{On(Coffee,CoffeeTable),Is(HallLight,On)} +{On(Coffee,CoffeeTable),Is(TubeLight,Off)} +{On(Coffee,CoffeeTable),Is(TubeLight,On)} +{On(Coffee,CoffeeTable),Is(Curtain,Off)} +{On(Coffee,CoffeeTable),Is(Curtain,On)} +{On(Coffee,Bar2),Is(AC,Off)} +{On(Coffee,Bar2),Is(AC,On)} +{On(Coffee,Bar2),Is(ACTemperature,Up)} +{On(Coffee,Bar2),Is(ACTemperature,Down)} +{On(Coffee,Bar2),Is(HallLight,Off)} +{On(Coffee,Bar2),Is(HallLight,On)} +{On(Coffee,Bar2),Is(TubeLight,Off)} +{On(Coffee,Bar2),Is(TubeLight,On)} +{On(Coffee,Bar2),Is(Curtain,Off)} +{On(Coffee,Bar2),Is(Curtain,On)} +{On(Coffee,TableOn),Is(AC,Off)} +{On(Coffee,TableOn),Is(AC,On)} +{On(Coffee,TableDown),Is(ACTemperature,Up)} +{On(Coffee,TableDown),Is(ACTemperature,Down)} +{On(Coffee,TableOn),Is(HallLight,Off)} +{On(Coffee,TableOn),Is(HallLight,On)} +{On(Coffee,TableOn),Is(TubeLight,Off)} +{On(Coffee,TableOn),Is(TubeLight,On)} +{On(Coffee,TableOn),Is(Curtain,Off)} +{On(Coffee,TableOn),Is(Curtain,On)} +{On(Coffee,Table2),Is(AC,Off)} +{On(Coffee,Table2),Is(AC,On)} +{On(Coffee,Table2),Is(ACTemperature,Up)} +{On(Coffee,Table2),Is(ACTemperature,Down)} +{On(Coffee,Table2),Is(HallLight,Off)} +{On(Coffee,Table2),Is(HallLight,On)} +{On(Coffee,Table2),Is(TubeLight,Off)} +{On(Coffee,Table2),Is(TubeLight,On)} +{On(Coffee,Table2),Is(Curtain,Off)} +{On(Coffee,Table2),Is(Curtain,On)} +{On(Coffee,Table3),Is(AC,Off)} +{On(Coffee,Table3),Is(AC,On)} +{On(Coffee,Table3),Is(ACTemperature,Up)} +{On(Coffee,Table3),Is(ACTemperature,Down)} +{On(Coffee,Table3),Is(HallLight,Off)} +{On(Coffee,Table3),Is(HallLight,On)} +{On(Coffee,Table3),Is(TubeLight,Off)} +{On(Coffee,Table3),Is(TubeLight,On)} +{On(Coffee,Table3),Is(Curtain,Off)} +{On(Coffee,Table3),Is(Curtain,On)} +{On(Water,Bar),Is(AC,Off)} +{On(Water,Bar),Is(AC,On)} +{On(Water,Bar),Is(ACTemperature,Up)} +{On(Water,Bar),Is(ACTemperature,Down)} +{On(Water,Bar),Is(HallLight,Off)} +{On(Water,Bar),Is(HallLight,On)} +{On(Water,Bar),Is(TubeLight,Off)} +{On(Water,Bar),Is(TubeLight,On)} +{On(Water,Bar),Is(Curtain,Off)} +{On(Water,Bar),Is(Curtain,On)} diff --git a/robowaiter/behavior_tree/dataset/goal_states_generation.py b/robowaiter/behavior_tree/dataset/goal_states_generation.py index 3cc2770..85cd457 100644 --- a/robowaiter/behavior_tree/dataset/goal_states_generation.py +++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py @@ -1,6 +1,10 @@ # the empty string '' represents robot holds nothing -Object = ['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', - 'VacuumCup', ''] +import os +import re + +Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup', 'Nothing'] + +Cookable = ['Coffee', 'Water', 'Dessert'] Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3'] @@ -35,13 +39,13 @@ def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]: match predict_pattern: case 'at': - pattern = f'At(%s, %s)' + pattern = f'At(%s,%s)' case 'is': - pattern = f'Is(%s, %s)' + pattern = f'Is(%s,%s)' case 'hold': pattern = f'Holding(%s)' case 'on': - pattern = f'On(%s, %s)' + pattern = f'On(%s,%s)' case _: raise RuntimeError('Incorrect predict pattern!') @@ -49,10 +53,10 @@ def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]: if oplist_2: for str_2 in oplist_2: count += 1 - res.append({pattern % (str_1, str_2)}) + res.append(pattern % (str_1, str_2)) else: count += 1 - res.append({pattern % str_1}) + res.append(pattern % str_1) return count, res @@ -85,27 +89,127 @@ def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int): } ) - # print(res) - # print(len(res)) + print(res) + print(len(res)) return res -def enumerate_goal_states(): - # goal states for VLN +def enumerate_goal_states(total: int): + + res = [] + + point_15 = int(total * .15) + point_10 = int(total * .10) + + # goal states for VLN, .15 count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at') - print(f'VLN 任务的目标状态数：{count_vln}') + list_vln = ['{%s}'%i for i in list_vln] + 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')) + # print(f'VLN 任务的目标状态数：{count_vln}') + res += list_vln - # goal states for VLM - count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at') + # goal states for VLM-1, 0.15 + count_vlm_1, list_vlm_1 = enumerate_predict(Object, Place, 'on') + list_vlm_1 = ['{%s}' % i for i in list_vlm_1] + 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')) + res += list_vlm_1 + + # goal states for VLM-2, 0.15 count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') - print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}') + list_vlm_2 = ['{%s}' % i for i in list_vlm_2] + 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')) + res += list_vlm_2 - # goal states for open-task - count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at') - count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on') - print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}') + # goal states for VLM-3, 0.1 + count_vlm_3, list_vlm_3 = enumerate_predict(Object, None, 'hold') + list_vlm_3 = ['{%s}' % i for i in list_vlm_3] + 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')) + res += list_vlm_3 + # goal states for OT, 0.15 + count_ot, list_ot = enumerate_predict(Cookable, Place, 'on') + list_ot = ['{%s}' % i for i in list_ot] + 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')) + res += list_ot + + # goal states for compound-1, 0.1 + count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') + count_2, list_2 = enumerate_predict(Object, Place, 'on') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10-len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # goal states for compound-2, 0.1 + count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') + count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10 - len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # goal states for compound-3, 0.1 + count_1, list_1 = enumerate_predict(Cookable, Place, 'on') + count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10 - len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # # goal states for VLM-1, 0.15 + # count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at') + # count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') + # print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}') + # + # # goal states for open-task + # count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at') + # count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on') + # print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}') + + with open(os.path.join('./goal_states.txt'), 'w+') as file: + for i in res: + if 'Is' in i and 'ACTemperature' in i: + i = re.sub('0', 'Up', i) + i = re.sub('1', 'Down', i) + elif 'Is' in i and ('AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i): + i = re.sub('0', 'Off', i) + i = re.sub('1', 'On', i) + + file.write(i+'\n') # generate_goal_states(30, 6, 6) -enumerate_goal_states() +enumerate_goal_states(5000) From 5ad86fe560dc0c051d3bbbf33d04593ede1df48b Mon Sep 17 00:00:00 2001 From: wuziji <2193177243@qq.com> Date: Tue, 14 Nov 2023 16:54:30 +0800 Subject: [PATCH 2/2] =?UTF-8?q?New:=20=E5=AE=8C=E6=88=90=E7=9B=AE=E6=A0=87?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E6=95=B0=E6=8D=AE=E9=9B=86=E7=9A=84=E6=9E=84?= =?UTF-8?q?=E5=BB=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../behavior_tree/dataset/goal_states.txt | 84 +++++++++---------- .../dataset/goal_states_generation.py | 10 +-- 2 files changed, 47 insertions(+), 47 deletions(-) diff --git a/robowaiter/behavior_tree/dataset/goal_states.txt b/robowaiter/behavior_tree/dataset/goal_states.txt index fb17464..85c913a 100644 --- a/robowaiter/behavior_tree/dataset/goal_states.txt +++ b/robowaiter/behavior_tree/dataset/goal_states.txt @@ -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)} diff --git a/robowaiter/behavior_tree/dataset/goal_states_generation.py b/robowaiter/behavior_tree/dataset/goal_states_generation.py index 85cd457..f03dfba 100644 --- a/robowaiter/behavior_tree/dataset/goal_states_generation.py +++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py @@ -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