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RoboWaiter
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更新工具调用

This commit is contained in:
Netceor 2023-11-19 14:21:58 +08:00
parent 8bdf5a96b4
commit 90ce854cdc
3 changed files with 82 additions and 21 deletions
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79
robowaiter/behavior_lib/act/DealChat.py
View File

@ -1,21 +1,24 @@
import py_trees as ptree
from robowaiter.behavior_lib._base.Act import Act
from robowaiter.llm_client.multi_rounds import ask_llm,new_history
from robowaiter.llm_client.multi_rounds import ask_llm, new_history
import random
import spacy
nlp = spacy.load('en_core_web_lg')
class DealChat(Act):
def __init__(self):
super().__init__()
self.chat_history = ""
self.function_success = False
self.func_map = {
"create_sub_task": self.create_sub_task,
"get_object_info": self.get_object_info
}
self.func_map = {"create_sub_task": self.create_sub_task, "get_object_info": self.get_object_info, "find_location": self.find_location}
def _update(self) -> ptree.common.Status:
# if self.scene.status?
name,sentence = self.scene.state['chat_list'].pop(0)
name, sentence = self.scene.state['chat_list'].pop(0)
if name == "Goal":
self.create_sub_task(goal=sentence)
@ -26,26 +29,22 @@ class DealChat(Act):
history = self.scene.state["chat_history"][name]
self.scene.state["attention"]["customer"] = name
self.scene.state["serve_state"] = {
"last_chat_time": self.scene.time,
}
self.scene.state["serve_state"] = {"last_chat_time": self.scene.time, }
function_call, response = ask_llm(sentence,history,func_map=self.func_map)
function_call, response = ask_llm(sentence, history, func_map=self.func_map)
self.scene.chat_bubble(response) # 机器人输出对话
self.scene.chat_bubble(response) # 机器人输出对话
return ptree.common.Status.RUNNING
def create_sub_task(self,**args):
def create_sub_task(self, **args):
try:
goal = args['goal']
w = goal.split(")")
goal_set = set()
goal_set.add(w[0] + ")")
if len(w)>1:
if len(w) > 1:
for x in w[1:]:
if x != "":
goal_set.add(x[1:] + ")")
@ -55,8 +54,7 @@ class DealChat(Act):
self.scene.robot.expand_sub_task_tree(goal_set)
def get_object_info(self,**args):
def get_object_info(self, **args):
try:
obj = args['obj']
@ -66,7 +64,52 @@ class DealChat(Act):
print("参数解析错误")
near_object = "None"
# 场景中现有物品
cur_things = set()
for item in self.status.objects:
cur_things.add(item.name)
# obj与现有物品进行相似度匹配
query_token = nlp(obj)
for w in self.all_loc_en:
word_token = nlp(w)
similarity = query_token.similarity(word_token)
if similarity > max_similarity:
max_similarity = similarity
similar_word = w
print("max_similarity:",max_similarity,"similar_word:",similar_word)
if similar_word: # 存在同义词说明场景中存在该物品
near_object = random.choices(list(cur_things), k=5) # 返回场景中的5个物品
if obj == "洗手间":
near_object = "大门"
return near_object
return near_object
def find_location(self, **args):
try:
location = args['obj']
self.function_success = True
except:
obj = None
print("参数解析错误")
near_location = None
# 用户咨询的地点
query_token = nlp(location)
max_similarity = 0
similar_word = None
# 到自己维护的地点列表中找同义词
for w in self.all_loc_en:
word_token = nlp(w)
similarity = query_token.similarity(word_token)
if similarity > max_similarity:
max_similarity = similarity
similar_word = w
print("similarity:", max_similarity, "similar_word:", similar_word)
# 存在同义词说明客户咨询的地点有效
if similar_word:
mp = list(self.loc_map_en[similar_word])
near_location = random.choice(mp)
return near_location

5
robowaiter/llm_client/find_obj_utils.py
View File

@ -30,9 +30,8 @@ all_obj = ['马克杯', '香蕉', '牙膏', '面包', '软饮料', '酸奶', 'AD
all_loc = ['吧台', '餐桌', '沙发', '灶台', '大门', '灯开关', '空调开关', '橱柜', '卫生间', '窗户', '音响', '休闲区', '工作台', '服务台', '收银台', '墙角',
'蛋糕柜', '充电处', '冰箱', '书架']
all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', 'bathroom', 'window',
'audio', 'lounge area', 'workstation', 'service counter', 'cashier counter', 'corner',
'cake display', 'ChargingStations', 'refrigerator', 'bookshelf']
all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', 'bathroom', 'window','audio', 'lounge area',
'workstation', 'service counter', 'cashier counter', 'corner','cake display', 'ChargingStations', 'refrigerator', 'bookshelf']
loc_map_en = {'bar': {'工作台', '服务台', '收银台', '蛋糕柜'},
'Table': {'大门', '休闲区', '墙角'},

19
robowaiter/scene/scene.py
View File

@ -124,6 +124,25 @@ class Scene:
with open(self.filename, 'rb') as file:
self.map_file = pickle.load(file)
# tool register
self.all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', 'bathroom', 'window', 'audio',
'lounge area', 'workstation', 'service counter', 'cashier counter', 'corner', 'cake display', 'ChargingStations',
'refrigerator', 'bookshelf']
self.loc_map_en = {'bar': {'工作台', '服务台', '收银台', '蛋糕柜'}, 'Table': {'大门', '休闲区', '墙角'},
'sofa': {'餐桌', '窗户', '音响', '休闲区', '墙角', '书架'},
'stove': {'吧台', '橱柜', '工作台', '服务台', '收银台', '蛋糕柜', '冰箱'},
'Gate': {'吧台', '灯开关', '空调开关', '卫生间', '墙角'}, 'light switch': {'大门', '空调开关', '卫生间', '墙角'},
'airconditioner switch': {'大门', '灯开关', '卫生间', '墙角'},
'cabinet': {'灶台', '吧台', '工作台', '服务台', '收银台', '蛋糕柜', '充电处', '冰箱'}, 'bathroom': {'大门', '墙角'},
'window': {'餐桌', '沙发', '休闲区'}, 'audio': {'餐桌', '沙发', '休闲区', '墙角', '书架'},
'lounge area': {'沙发', '餐桌', '墙角', '书架', '音响'}, 'workstation': {'吧台', '服务台', '收银台'},
'service counter': {'吧台', '工作台', '收银台'}, 'cashier counter': {'吧台', '工作台', '服务台'},
'corner': {'卫生间', '沙发', '灯开关', '空调开关', '音响', '休闲区', '书架'},
'cake display': {'吧台', '橱柜', '服务台', '收银台', '冰箱'},
'ChargingStations': {'吧台', '餐桌', '沙发', '休闲区', '工作台', '服务台', '收银台', '墙角', '书架'},
'refrigerator': {'吧台', '服务台', '蛋糕柜'}, 'bookshelf': {'餐桌', '沙发', '窗户', '休闲区', '墙角'}}
def reset(self):
# 基类reset，默认执行仿真器初始化操作