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

robowaiter/behavior_tree/dataset/goal_states_generation.py

@@ -2,7 +2,7 @@
 import os
 import re
 
-Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup', 'Nothing']
+Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup']
 
 Cookable = ['Coffee', 'Water', 'Dessert']
 
@@ -10,7 +10,7 @@ Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3
 
 Entity = ['Robot', 'Customer']
 
-Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain']
+Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table']
 
 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):
-
     res = []
 
     point_15 = int(total * .15)
@@ -104,7 +103,7 @@ def enumerate_goal_states(total: int):
 
     # goal states for VLN, .15
     count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at')
-    list_vln = ['{%s}'%i for i in list_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)):
@@ -131,7 +130,7 @@ def enumerate_goal_states(total: int):
     res += list_vlm_2
 
     # 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]
     if count_vlm_3 < point_10:
         list_vlm_3 *= point_10 // count_vlm_3
@@ -157,7 +156,7 @@ def enumerate_goal_states(total: int):
             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)]
+        list_tmp += list_tmp[0:point_10 - len(list_tmp)]
     else:
         list_tmp = list_tmp[:point_10]
     res += list_tmp
@@ -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):
                 i = re.sub('0', 'Off', 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)
 enumerate_goal_states(5000)

run_robowaiter.py

@@ -8,7 +8,7 @@ project_path = "./robowaiter"
 ptml_path = os.path.join(project_path, 'robot/Default.ptml')
 behavior_lib_path = os.path.join(project_path, 'behavior_lib')
 
-robot = Robot(ptml_path,behavior_lib_path)
+robot = Robot(ptml_path, behavior_lib_path)
 
 # create task
 task = task_map[TASK_NAME](robot)