diff --git a/robowaiter/behavior_lib/act/DealChat.py b/robowaiter/behavior_lib/act/DealChat.py index e66ed1c..1efed4c 100644 --- a/robowaiter/behavior_lib/act/DealChat.py +++ b/robowaiter/behavior_lib/act/DealChat.py @@ -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 \ No newline at end of file + 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 diff --git a/robowaiter/llm_client/find_obj_utils.py b/robowaiter/llm_client/find_obj_utils.py index 98f965d..fe134ac 100644 --- a/robowaiter/llm_client/find_obj_utils.py +++ b/robowaiter/llm_client/find_obj_utils.py @@ -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'}, diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index a36ded3..c0c1c39 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -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