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RoboWaiter
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IMPROVE: 增加目标状态数据，删除非holding谓词的nothing

This commit is contained in:
wuziji 2023-11-14 20:22:53 +08:00
parent a012fabf6d
commit 6adc7c750e
4 changed files with 1532 additions and 1655 deletions
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1674
robowaiter/behavior_tree/dataset/goal_states.txt
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11
robowaiter/behavior_tree/dataset/goal_states_generation.py
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@ -2,7 +2,7 @@
import os import os
import re import re
Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup', 'Nothing'] Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup']
Cookable = ['Coffee', 'Water', 'Dessert'] Cookable = ['Coffee', 'Water', 'Dessert']
@ -10,7 +10,7 @@ Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3
Entity = ['Robot', 'Customer'] Entity = ['Robot', 'Customer']
Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain'] Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table']
import random import random
@ -96,7 +96,6 @@ def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int):
def enumerate_goal_states(total: int): def enumerate_goal_states(total: int):
res = [] res = []
point_15 = int(total * .15) point_15 = int(total * .15)
@ -131,7 +130,7 @@ def enumerate_goal_states(total: int):
res += list_vlm_2 res += list_vlm_2
# goal states for VLM-3, 0.1 # goal states for VLM-3, 0.1
count_vlm_3, list_vlm_3 = enumerate_predict(Object, None, 'hold') count_vlm_3, list_vlm_3 = enumerate_predict(Object + ['Nothing'], None, 'hold')
list_vlm_3 = ['{%s}' % i for i in list_vlm_3] list_vlm_3 = ['{%s}' % i for i in list_vlm_3]
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
@ -208,8 +207,12 @@ def enumerate_goal_states(total: int):
elif 'Is' in i and ('AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in 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('0', 'Off', i)
i = re.sub('1', 'On', i) i = re.sub('1', 'On', i)
elif 'Is' in i and ('Chairs' in i or 'Floor' in i or 'Table' in i):
i = re.sub('0', 'Dirty', i)
i = re.sub('1', 'Clean', i)
file.write(i + '\n') file.write(i + '\n')
# generate_goal_states(30, 6, 6) # generate_goal_states(30, 6, 6)
enumerate_goal_states(5000) enumerate_goal_states(5000)

1460
sub_task.ptml
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