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添加了一些数据集处理的脚本

This commit is contained in:
ChenXL97 2023-11-12 14:36:41 +08:00
parent 3acfa5bc77
commit a9f17f7bdb
21 changed files with 1790 additions and 45 deletions
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2
.gitignore vendored
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@ -17,6 +17,8 @@ share/python-wheels/
.installed.cfg
*.egg
MANIFEST
MO-VLN/
GLIP/
# PyInstaller
# Usually these files are written by a python script from a template

6
requirements.txt
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@ -7,4 +7,8 @@ grpcio==1.53.0
requests
urllib3
tabulate
autopep8
autopep8
pytorch==1.11.0
torchvision==0.12.0
torchaudio==0.11.0
cudatoolkit=11.3

24
robowaiter/behavior_lib/act/DealChat.py
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@ -11,27 +11,11 @@ class DealChat(Act):
# if self.scene.status?
chat = self.scene.state['chat_list'].pop()
# 判断是否是测试
# if chat in fixed_answers.keys():
# sentence,goal = fixed_answers[chat].split("---")
# sentence = sentence.strip()
# goal = goal.strip()
# print(f'机器人回答：{sentence}')
# goal = eval(goal)
# print(f'goal：{goal}')
#
# self.create_sub_task(goal)
# else:
answer = ask_llm(chat)
answer_split = answer.split("---")
sentence = answer_split[0].strip()
goal = None
if len(answer_split) > 1:
goal = answer_split[1].strip()
res_dict = ask_llm(chat)
answer = res_dict["Answer"]
goal = eval(res_dict["Goal"])
print(f'{sentence}')
if goal:
goal = eval(goal)
if goal is not None:
print(f'goal：{goal}')
self.create_sub_task(goal)

12
robowaiter/behavior_lib/act/MoveTo.py
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@ -11,11 +11,13 @@ class MoveTo(Act):
def _update(self) -> ptree.common.Status:
# self.scene.test_move()
navigator = Navigator(scene=self.scene, area_range=[-350, 600, -400, 1450], map=self.scene.state["map"]["2d"])
# navigator = Navigator(scene=self.scene, area_range=[-350, 600, -400, 1450], map=self.scene.state["map"]["2d"])
# goal = self.scene.state['map']['obj_pos'][self.args[0]]
# navigator.navigate(goal, animation=False)
#
# self.scene.state['condition_set'].add('At(Robot,Table)')
goal = self.scene.state['map']['obj_pos'][self.args[0]]
navigator.navigate(goal, animation=False)
self.scene.state['condition_set'].add('At(Robot,Table)')
self.scene.walk_to(goal[0],goal[1])
return ptree.common.Status.RUNNING

10
robowaiter/llm_client/ask_llm.py
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@ -1,3 +1,4 @@
import os
import requests
import urllib3
@ -12,16 +13,19 @@ urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
root_path = get_root_path()
# load test questions
file_path = os.path.join(root_path,"robowaiter/llm_client/data/test_questions.txt")
with open(file_path,'r',encoding="utf-8") as f:
test_questions_dict = eval(f.read())
def ask_llm(question):
if question in test_questions_dict:
return test_questions_dict[question]
ans = single_round(question)
return ans
if __name__ == '__main__':
question = '''
python中如何通过类名字符串的方式来代替isinstance的作用
'''
question = '''测试VLM：做一杯咖啡'''
print(ask_llm(question))

3
robowaiter/llm_client/data/data.jsonl Normal file
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@ -0,0 +1,3 @@
{"Question": "测试VLM：做一杯咖啡", "Answer": " 测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}
{"Question": "Bob", "Answer": "30", "Goal": "San Francisco"}
{"Question": "Charlie", "Answer": "18", "Goal": "Los Angeles"}

1
robowaiter/llm_client/data/test_questions.txt Normal file
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@ -0,0 +1 @@
{"测试VLM：做一杯咖啡": {"Answer": " 测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLN：前往桌子": {"Answer": "测试VLN：前往桌子", "Goal": "{\"At(Robot,Table)\"}"}}

100
robowaiter/llm_client/data/train_100_1109.jsonl Normal file
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@ -0,0 +1,100 @@
{"data_name": "100_data", "id": 0, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请问你们这里有咖啡吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Coffee, Table), At(Robot,Table)"}]}
{"data_name": "100_data", "id": 1, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), Available(VacuumCup), Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"你好，你能帮我拿一个保温杯吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我马上给您拿过来\nGoals: At(VacuumCup,Table), At(Robot,Table)"}]}
{"data_name": "100_data", "id": 2, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请问你们这里有面包吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Bread, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 3, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Bar),NotHodding}\nchat_list: [(Customer, \"你们这里有空位吗？\")]"}, {"role": "bot", "content": "Response: 有的，请跟我来\nGoals: At(Robot,Table), At(Customer,Table)"}]}
{"data_name": "100_data", "id": 4, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Customer), At(Customer,Table), Available(ADMilk), Available(BottledDrink), Available(VacuumCup), Available(CocountWater),NotHodding}\nchat_list: [(Customer, \"服务员，我想要一份面包和一杯软饮料。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您拿来\nGoals: At(Bread, Table), At(Softdrink, Table), At(Robot,Table)"}]}
{"data_name": "100_data", "id": 5, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), Available(VacuumCup), Available(Table), Available(CoffeeMachine), At(Customer,Bar),NotHodding}\nchat_list: [(Customer, \"你能帮我拿一下保温杯吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我马上给您拿过来\nGoals: At(VacuumCup,Bar), Holding(VacuumCup), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 6, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"太热了，你能帮我打开空调吗？\")]"}, {"role": "bot", "content": "Response: 好的，我马上为您打开空调\nGoals: AirConditionerOn, At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 7, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),TubeLightOn,NotHodding}\nchat_list: [(Customer, \"服务员，能帮我关一下筒灯吗？\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您关掉\nGoals: Not(TubeLightOn), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 8, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"麻烦你帮我拉一下窗帘，谢谢。\")]"}, {"role": "bot", "content": "Response: 当然可以，请稍等片刻\nGoals: CurtainsClosed, At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 9, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"服务员，可以帮我擦一下桌子吗？\")]"}, {"role": "bot", "content": "Response: 好的，请稍等片刻\nGoals: Wiping"}]}
{"data_name": "100_data", "id": 10, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"你能倒杯水给我吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请稍等片刻\nGoals: At(Water,Table), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 11, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Bar),NotHodding}\nchat_list: [(Customer, \"请问有空位吗？能帮我指引一下吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请跟我来\nGoals: At(Robot,Table), At(Customer,Table)"}]}
{"data_name": "100_data", "id": 12, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"服务员，你能帮我点一杯咖啡吗？\")]"}, {"role": "bot", "content": "Response: 好的，我这就帮您点一杯咖啡\nGoals: At(Coffee, Bar) At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 13, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, At(Customer,Bar),NotHodding}\nchat_list: [(Customer, \"请问这里有面包吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Bread, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 14, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"你们这里有ADMilk吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(ADMilk, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 15, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(VacuumCup), Available(Softdrink), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"请问这里有保温杯吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(VacuumCup, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 16, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"服务员，你们这里有Bernachon巧克力吗？\")]"}, {"role": "bot", "content": "Response: 不好意思，我们这儿没有Bernachon巧克力\nGoals: At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 17, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(Softdrink), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"请给我来一瓶饮料。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备一瓶饮料\nGoals: At(Softdrink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 18, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(VacuumCup), Available(Softdrink), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"你们这里有铅笔花瓶吗？\")]"}, {"role": "bot", "content": "Response: 非常抱歉，我们这里没有\nGoals: At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 19, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(MilkDrink), Available(Teacup), Available(Glass), Available(BottledDrink),NotHodding}\nchat_list: [(Customer, \"服务员，请给我来一只茶杯。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备一只茶杯\nGoals: At(Teacup, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 20, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(MilkDrink),NotHodding}\nchat_list: [(Customer, \"请问这里有奶饮料吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(MilkDrink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 21, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(CocountWater), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"你们这里有椰子水吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(CocountWater, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 22, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(GlueStick),NotHodding}\nchat_list: [(Customer, \"服务员，请给我一支胶棒。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您一支胶棒\nGoals: At(GlueStick, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 23, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(Orange),NotHodding}\nchat_list: [(Customer, \"请问你们这里有橙子吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Orange, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 24, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(Glass),NotHodding}\nchat_list: [(Customer, \"你们这里有玻璃杯吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Glass, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 25, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(NFCJuice),NotHodding}\nchat_list: [(Customer, \"请给我来一杯橙汁。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备一杯橙汁\nGoals: At(NFCJuice, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 26, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请给我来一杯牛奶。\")]"}, {"role": "bot", "content": "Response: 抱歉，我们这没有牛奶了\nGoals: At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 27, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请给我来一杯橙汁。\")]"}, {"role": "bot", "content": "Response: 不好意思，我们已经卖完了\nGoals: At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 28, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"你们这里有NFC果汁吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(NFCJuice, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 29, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink), Available(CocountMilk), Available(Milk),NotHodding}\nchat_list: [(Customer, \"请问这里有牛奶吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Milk, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 30, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink), Available(CocountMilk),NotHodding}\nchat_list: [(Customer, \"你们这里有椰奶吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(CocountMilk, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 31, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink),NotHodding}\nchat_list: [(Customer, \"请给我来一瓶酸奶饮料。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备一瓶酸奶饮料\nGoals: At(YogurtDrink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 32, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink),NotHodding}\nchat_list: [(Customer, \"你们这里有酸奶饮料吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(YogurtDrink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 33, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink), Available(Drink),NotHodding}\nchat_list: [(Customer, \"服务员，请给我来几瓶饮料。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备几瓶饮料\nGoals: At(Drink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 34, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"你们这里有饮料吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Drink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 35, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请问这里有咖啡吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Coffee, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 36, "chat_rounds": [{"role": "human", "content": "State：{At(Robot,Bar),Holding(VacuumCup),Available(Table),Available(CoffeeMachine),Available(Bar),At(Customer,Table),NotHodding}\nchat_list: [(Customer, “你好，可以给我来一杯咖啡吗？”)]"}, {"role": "bot", "content": "Response: 没问题，请稍等\nGoals: At(Coffee,Table)"}]}
{"data_name": "100_data", "id": 37, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar),NotHodding,Available(Customer),At(Customer, Table)}\nchat_list: [(Customer, “服务员，过来一下”)]"}, {"role": "bot", "content": "Response: 好的，我这就过来\nGoals: At(Robot, Table)"}]}
{"data_name": "100_data", "id": 38, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar),Holding(VacuumCup),Available(Table),Available(CoffeeMachine),At(Customer,Bar),NotHodding}\nchat_list: [(Customer, “有酸奶吗？”)]"}, {"role": "bot", "content": "Response: 有，我这就去拿\nGoals: At(Yogurt,Bar),At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 39, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar),Available(Table),At(Customer,Bar),NotHodding}\nchat_list: [(Customer, “我天，今天人可真多，不知道有没有空的位置”)]"}, {"role": "bot", "content": "Response: 有的，请跟我来\nGoals: At(Customer,Table),At(Robot,Table)"}]}
{"data_name": "100_data", "id": 40, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table),Available(Water),Holding(Glass),NotHodding}\nchat_list: [(Customer, \"可以给我倒一杯水吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我给您倒一杯水。\nGoals: NotHolding, At(Water, Table)"}]}
{"data_name": "100_data", "id": 41, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"这里太暗了，可以开一些灯吗？\")]"}, {"role": "bot", "content": "Response: 可以的，我这就去调整灯光。\nGoals: At(Robot, LightSwitchArea), HallLightOn"}]}
{"data_name": "100_data", "id": 42, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, CoffeeMachineArea), NotHolding, At(Customer, Bar),HallLightOn,NotHodding}\nchat_list: [(Customer, \"太阳好大啊，有点晃眼\")]"}, {"role": "bot", "content": "Response: 不好意思，我去拉一下窗帘\nGoals: CurtainsClosed"}]}
{"data_name": "100_data", "id": 43, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我有点头疼，可以帮我找点止疼药吗？\")]"}, {"role": "bot", "content": "Response: 很抱歉，我们不提供药物，但我可以为您找个安静的位置。\nGoals: At(Robot, Table), At(Customer, Table)"}]}
{"data_name": "100_data", "id": 44, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, LightsOn,NotHodding}\nchat_list: [(Customer, \"你好，这里好暗，能帮我开一下灯吗？”)]"}, {"role": "bot", "content": "Response: 当然可以，我马上为您开灯。\nGoals: HallLightOn"}]}
{"data_name": "100_data", "id": 45, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我们想吃点心，可以拿来吗？\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您拿过来。\nGoals: At(Snack, Table)"}]}
{"data_name": "100_data", "id": 46, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"给我来杯咖啡和面包，可以吗\")]"}, {"role": "bot", "content": "Response: 没问题，我这就给您拿过来。\nGoals: At(Snack, Table),At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 47, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"你好，请给我来一杯可乐。\")]"}, {"role": "bot", "content": "Response: 当然，请稍等片刻。\nGoal: At(Softdrink, Table)"}]}
{"data_name": "100_data", "id": 48, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"能帮我倒一杯咖啡吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我这就去帮您倒咖啡。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 49, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"请问有面包吗？\")]"}, {"role": "bot", "content": "Response: 是的，我这就去拿给您。\nGoal: At(Bread, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 50, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Table), Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"服务员，我想点一份酸奶。\")]"}, {"role": "bot", "content": "Response: 没问题，我马上为您准备。\nGoal: At(Yogurt, Table)"}]}
{"data_name": "100_data", "id": 51, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"请问还有空桌子吗？\")]"}, {"role": "bot", "content": "Response: 非常抱歉，目前所有桌子都已经被占用了。\nGoal: At(Robot, Bar)"}]}
{"data_name": "100_data", "id": 52, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"能给我倒杯水吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我给您倒一杯水。\nGoal: NotHolding, At(Water, Table)"}]}
{"data_name": "100_data", "id": 53, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"请问这里有冰咖啡吗？\")]"}, {"role": "bot", "content": "Response: 是的，我这就为您冲一杯冰咖啡。\nGoal: At(IcedCoffee, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 54, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"服务员，能帮我把桌子擦一下吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请稍等片刻。\nGoal: At(Robot, MopArea), At(Customer, Table)"}]}
{"data_name": "100_data", "id": 55, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"请问洗手间在哪里？\")]"}, {"role": "bot", "content": "Response: 洗手间在餐厅的门口右边，请跟我来。\nGoal: At(Customer, Restroom), At(Robot, RestroomDoorway)"}]}
{"data_name": "100_data", "id": 56, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"你好，请告诉我怎么去卫生间。\")]"}, {"role": "bot", "content": "Response: 当然，请跟我来。\nGoal: At(Robot, Restroom), At(Customer, Restroom)"}]}
{"data_name": "100_data", "id": 57, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"服务员，可以帮我指引到空位吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请跟我来。\nGoal: At(Customer, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 58, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"嘿，服务员！来点酷爽的软饮料吧！\")]"}, {"role": "bot", "content": "Response: 当然，我会给你找一个能让你凉爽起来的软饮料。\nGoal: At(Softdrink, Table)"}]}
{"data_name": "100_data", "id": 59, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"嗨，你能帮我调制一杯香醇的卡布奇诺吗？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我用我的魔法调制出一杯令人陶醉的卡布奇诺。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 60, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"有没有新鲜出炉的面包？我想要一块。\")]"}, {"role": "bot", "content": "Response: 是的，我这就去找一块刚出炉的面包给您。\nGoal: At(Bread, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 61, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Table), Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"嘿，够呛，这里还能坐下一个吗？\")]"}, {"role": "bot", "content": "Response: 呃，不好意思，我们的座位已经快被抢光了。\nGoal: At(Robot, Bar)"}]}
{"data_name": "100_data", "id": 62, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"请给我来一杯清凉的冰水。\")]"}, {"role": "bot", "content": "Response: 当然，请让我为您倾情倒上一杯冰凉解渴的水。\nGoal: NotHolding, At(Water, Table)"}]}
{"data_name": "100_data", "id": 63, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"嘿，这里有没有冷冻咖啡？\")]"}, {"role": "bot", "content": "Response: 当然有！冷冻咖啡能帮你在炎热的夏日保持冷静。\nGoal: At(FrozenCoffee, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 64, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"喂，服务员，能不能给我擦擦桌子？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我用魔法拂去桌面上的一切灰尘。\nGoal: At(Robot, MopArea), At(Customer, Table)"}]}
{"data_name": "100_data", "id": 65, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"请问洗手间在哪里？\")]"}, {"role": "bot", "content": "Response: 如果您不知道如何找到洗手间，我可以引领您进入一个令人愉悦的世界。\nGoal: At(Customer, Restroom), At(Robot, Restroom)"}]}
{"data_name": "100_data", "id": 66, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"服务员，你能给我找个空座位吗？\")]"}, {"role": "bot", "content": "Response: 我是你的私人导航，让我带领您找一个舒适的座位，但请记得在我的引导下保持安全距离。\nGoal: At(Customer, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 67, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"我需要一杯浓郁的摩卡。你能帮我调制吗？\")]"}, {"role": "bot", "content": "Response: 绝对没问题！我将为您调制一杯令人难以抗拒的摩卡。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 68, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"可以给我来一份椰子水吗？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我给您带来一份清凉解渴的椰子水。\nGoal: At(CocountWater, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 69, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"请给我来杯冷冻柠檬水。\")]"}, {"role": "bot", "content": "Response: 当然可以！让我为您倒上一杯冰凉可口的冷冻柠檬水。\nGoal: NotHolding, At(LemonWater, Table)"}]}
{"data_name": "100_data", "id": 70, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),HallLightO,NotHodding}\nchat_list: [(Customer, \"你们这里的灯光太刺眼了，能不能调暗一点？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我把灯光调整到恰到好处的舒适亮度。\nGoal: At(Robot, LightSwitchArea)，Not(HallLightOn)"}]}
{"data_name": "100_data", "id": 71, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"嗨，有没有特殊口味的拿铁？\")]"}, {"role": "bot", "content": "Response: 当然有！让我为您调制出一杯独具风味的特色拿铁。\nGoal: At(Coffee, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 72, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"服务员，这桌子上有点脏，请帮我擦一下。\")]"}, {"role": "bot", "content": "Response: 当然可以，让我为您清扫一下，让桌子焕然一新。\nGoal: Wiping,At(Robot, Table)"}]}
{"data_name": "100_data", "id": 73, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"你好，请给我来一杯花式咖啡。\")]"}, {"role": "bot", "content": "Response: 当然可以！让我为您展现一场关于咖啡的艺术表演。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 74, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我想要一个玻璃杯。你能给我找一个吗？\")]"}, {"role": "bot", "content": "Response: 当然可以！请稍等片刻，我会找到一个精致的玻璃杯给您。\nGoal: At(Glass, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 75, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Table), Available(MilkDrink), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"你们这里有牛奶吗？\")]"}, {"role": "bot", "content": "Response: 当然有！我们的啤酒拥有丰富的口感和独特的风味。\nGoal: At(MilkDrink, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 76, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"请给我来一杯温水。\")]"}, {"role": "bot", "content": "Response: 当然可以！让我为您倒上一杯舒适宜人的温水。\nGoal: NotHolding, At(Water, Table)"}]}
{"data_name": "100_data", "id": 77, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"你们的这里真漂亮，能不能调节一下气温？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我用魔法为您创造一个恰到好处的环境温度。\nGoal: At(Robot, AirConditionerArea)，AirConditionerOn"}]}
{"data_name": "100_data", "id": 78, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"喂，服务员，你们这里有甜点吗？\")]"}, {"role": "bot", "content": "Response: 当然有！我们的甜点会让您的味蕾跳动不已。\nGoal: At(Bread, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 79, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(NFCJuice), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"有没有新鲜挤的果汁？我想要一杯。\")]"}, {"role": "bot", "content": "Response: 是的，我们有新鲜挤的果汁供应。请稍等片刻，我会为您准备一杯口感极佳的果汁。\nGoal: At(NFCJuice, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 80, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Table), Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"嘿，这里有没有甜品？我想尝一下。\")]"}, {"role": "bot", "content": "Response: 当然有！我们的甜品将为您带来满足味蕾的愉悦体验。\nGoal: At(Bread, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 81, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"请给我来一杯柠檬茶。\")]"}, {"role": "bot", "content": "Response: 当然可以！让我为您倒上一杯清新爽口的柠檬茶。\nGoal: NotHolding, At(NFCJuice, Table)"}]}
{"data_name": "100_data", "id": 82, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"嗨，我需要一杯加冰的美式咖啡。\")]"}, {"role": "bot", "content": "Response: 没问题！让我为您准备一杯酷爽的加冰美式咖啡。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 83, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Softdrink), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"请问这里有没有能量饮料？我需要提神一下。\")]"}, {"role": "bot", "content": "Response: 当然有！我们的能量饮料会为您注入活力和精力。\nGoal: At(Softdrink, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 84, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"服务员，你们这里有什么特色饮品推荐吗？\")]"}, {"role": "bot", "content": "Response: 当然有！我们的特色饮品将带您领略独特的口味体验。\nGoal: At(Coffee,Table)"}]}
{"data_name": "100_data", "id": 85, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Glove, Bar), NotHolding, At(Customer, Entrance),NotHodding}\nchat_list: [(Customer, \"外面下雨了，你们有雨伞借一下吗？\")]"}, {"role": "bot", "content": "Response: 有的，请等一下，我给您拿雨伞。\nGoal: At(Umbrella, Bar), At(Robot, Bar)"}]}
{"data_name": "100_data", "id": 86, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(CoffeeMachine, Bar), At(Customer, Bar), NotHolding,NotHodding}\nchat_list: [(Customer, \"可以帮我冲一杯咖啡吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，您稍等一下。\nGoal: At(Coffee, Bar)"}]}
{"data_name": "100_data", "id": 87, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Cake, Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"过来一下，我想要个蛋糕。\")]"}, {"role": "bot", "content": "Response: 好的，您想要什么口味的蛋糕？\nGoal: At(Robot, Table), At(Cake, Table)"}]}
{"data_name": "100_data", "id": 88, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Mug, Bar), NotHolding, Available(CoffeeMachine), At(Customer, Entrance),NotHodding}\nchat_list: [(Customer, \"我可以自己弄一杯咖啡吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请让我带您到咖啡机旁边。\nGoal: At(Customer, CoffeeMachine), At(Robot, CoffeeMachine)"}]}
{"data_name": "100_data", "id": 89, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding,NotHodding}\nchat_list: [(Customer, \"我找不到洗手间，能带我去一下吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请跟我来。\nGoal: At(Robot, Restroom), At(Customer, Restroom)"}]}
{"data_name": "100_data", "id": 90, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Milk, Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"小朋友想喝牛奶，可以拿一杯吗？\")]"}, {"role": "bot", "content": "Response: 好的，马上为您拿来。\nGoal: At(Milk, Table)"}]}
{"data_name": "100_data", "id": 91, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Gauze), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"我手上划了一下，有纱布吗？\")]"}, {"role": "bot", "content": "Response: 有的，我这就给您拿过来。\nGoal: At(Gauze, Bar)"}]}
{"data_name": "100_data", "id": 92, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Chess), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我可以在休息区下一局棋吗？\")]"}, {"role": "bot", "content": "Response: 当然，我这就为您拿棋盘。\nGoal: At(Chess, Table)"}]}
{"data_name": "100_data", "id": 93, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Novel, Shelf), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我可以借一本小说看看吗？\")]"}, {"role": "bot", "content": "Response: 可以的，我帮您拿一本。\nGoal: At(Novel, Table)"}]}
{"data_name": "100_data", "id": 94, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Available(Kettle), Available(Teacup), At(Customer, Table),NotHodding}\nchat_list: \"我能喝点热水吗？\""}, {"role": "bot", "content": "Response: 好的，我这就给您倒。\nGoal: At(Kettle, Table), Holding(Robot, Teacup), At(Teacup, Table)"}]}
{"data_name": "100_data", "id": 95, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, LightsOn, At(Customer, Bar),TubeLightOn,NotHodding}\nchat_list: \"这里太亮了，可以关一些灯吗？\""}, {"role": "bot", "content": "Response: 可以的，我这就去调整灯光。\nGoal: Not(TubeLightOn)"}]}
{"data_name": "100_data", "id": 96, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Available(Box), At(Customer, Table), NotHolding,NotHodding}\nchat_list: \"请问你们这里有纸巾吗？\""}, {"role": "bot", "content": "Response: 有的，我现在就给您拿过去。\nGoal: At(Tissue, Table)"}]}
{"data_name": "100_data", "id": 97, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, At(Customer, Bar),NotHodding}\nchat_list: \"我有点头疼，可以帮我找点止疼药吗？\""}, {"role": "bot", "content": "Response: 很抱歉，我们不提供药物，但我可以为您找个安静的位置。\nGoal: At(Robot, Table), At(Customer, Table)"}]}
{"data_name": "100_data", "id": 98, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Softdrink), At(Customer, Table),NotHodding}\nchat_list: \"这瓶饮料好像没有打开，你能帮我打开吗？\""}, {"role": "bot", "content": "Response: 当然可以，我这就帮您。\nGoal: Holding(Robot,Softdrink),At(Robot, Table)"}]}
{"data_name": "100_data", "id": 99, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Softdrink), At(Customer, Table),NotHodding}\nchat_list: \"这地板好脏啊，可以拖一下吗？\""}, {"role": "bot", "content": "Response: 当然可以，我这就来扫地。\nGoal: Wiping,At(Robot, MopArea)"}]}

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Question,Answer,Goal
测试VLM：做一杯咖啡,测试VLM：做一杯咖啡,"{""At(Coffee,Bar)""}"
测试VLN：前往桌子,测试VLN：前往桌子,"{""At(Robot,Table)""}"
1 Question Answer Goal
2 测试VLM：做一杯咖啡 测试VLM：做一杯咖啡 {"At(Coffee,Bar)"}
3 测试VLN：前往桌子 测试VLN：前往桌子 {"At(Robot,Table)"}

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{"data_name": "100_data", "id": 0, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请问你们这里有咖啡吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Coffee, Table), At(Robot,Table)"}]}
{"data_name": "100_data", "id": 1, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), Available(VacuumCup), Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"你好，你能帮我拿一个保温杯吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我马上给您拿过来\nGoals: At(VacuumCup,Table), At(Robot,Table)"}]}
{"data_name": "100_data", "id": 2, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请问你们这里有面包吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Bread, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 3, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Bar),NotHodding}\nchat_list: [(Customer, \"你们这里有空位吗？\")]"}, {"role": "bot", "content": "Response: 有的，请跟我来\nGoals: At(Robot,Table), At(Customer,Table)"}]}
{"data_name": "100_data", "id": 4, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Customer), At(Customer,Table), Available(ADMilk), Available(BottledDrink), Available(VacuumCup), Available(CocountWater),NotHodding}\nchat_list: [(Customer, \"服务员，我想要一份面包和一杯软饮料。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您拿来\nGoals: At(Bread, Table), At(Softdrink, Table), At(Robot,Table)"}]}
{"data_name": "100_data", "id": 5, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), Available(VacuumCup), Available(Table), Available(CoffeeMachine), At(Customer,Bar),NotHodding}\nchat_list: [(Customer, \"你能帮我拿一下保温杯吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我马上给您拿过来\nGoals: At(VacuumCup,Bar), Holding(VacuumCup), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 6, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"太热了，你能帮我打开空调吗？\")]"}, {"role": "bot", "content": "Response: 好的，我马上为您打开空调\nGoals: AirConditionerOn, At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 7, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),TubeLightOn,NotHodding}\nchat_list: [(Customer, \"服务员，能帮我关一下筒灯吗？\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您关掉\nGoals: Not(TubeLightOn), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 8, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"麻烦你帮我拉一下窗帘，谢谢。\")]"}, {"role": "bot", "content": "Response: 当然可以，请稍等片刻\nGoals: CurtainsClosed, At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 9, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"服务员，可以帮我擦一下桌子吗？\")]"}, {"role": "bot", "content": "Response: 好的，请稍等片刻\nGoals: Wiping"}]}
{"data_name": "100_data", "id": 10, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"你能倒杯水给我吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请稍等片刻\nGoals: At(Water,Table), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 11, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), Available(CoffeeMachine), At(Customer,Bar),NotHodding}\nchat_list: [(Customer, \"请问有空位吗？能帮我指引一下吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请跟我来\nGoals: At(Robot,Table), At(Customer,Table)"}]}
{"data_name": "100_data", "id": 12, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"服务员，你能帮我点一杯咖啡吗？\")]"}, {"role": "bot", "content": "Response: 好的，我这就帮您点一杯咖啡\nGoals: At(Coffee, Bar) At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 13, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, At(Customer,Bar),NotHodding}\nchat_list: [(Customer, \"请问这里有面包吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Bread, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 14, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"你们这里有ADMilk吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(ADMilk, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 15, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(VacuumCup), Available(Softdrink), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"请问这里有保温杯吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(VacuumCup, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 16, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"服务员，你们这里有Bernachon巧克力吗？\")]"}, {"role": "bot", "content": "Response: 不好意思，我们这儿没有Bernachon巧克力\nGoals: At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 17, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(Softdrink), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"请给我来一瓶饮料。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备一瓶饮料\nGoals: At(Softdrink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 18, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(VacuumCup), Available(Softdrink), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"你们这里有铅笔花瓶吗？\")]"}, {"role": "bot", "content": "Response: 非常抱歉，我们这里没有\nGoals: At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 19, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(MilkDrink), Available(Teacup), Available(Glass), Available(BottledDrink),NotHodding}\nchat_list: [(Customer, \"服务员，请给我来一只茶杯。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备一只茶杯\nGoals: At(Teacup, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 20, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(MilkDrink),NotHodding}\nchat_list: [(Customer, \"请问这里有奶饮料吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(MilkDrink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 21, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(CocountWater), Available(ADMilk), Available(Yogurt),NotHodding}\nchat_list: [(Customer, \"你们这里有椰子水吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(CocountWater, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 22, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(GlueStick),NotHodding}\nchat_list: [(Customer, \"服务员，请给我一支胶棒。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您一支胶棒\nGoals: At(GlueStick, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 23, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Bar), Available(Orange),NotHodding}\nchat_list: [(Customer, \"请问你们这里有橙子吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Orange, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 24, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(Glass),NotHodding}\nchat_list: [(Customer, \"你们这里有玻璃杯吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Glass, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 25, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(NFCJuice),NotHodding}\nchat_list: [(Customer, \"请给我来一杯橙汁。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备一杯橙汁\nGoals: At(NFCJuice, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 26, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请给我来一杯牛奶。\")]"}, {"role": "bot", "content": "Response: 抱歉，我们这没有牛奶了\nGoals: At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 27, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请给我来一杯橙汁。\")]"}, {"role": "bot", "content": "Response: 不好意思，我们已经卖完了\nGoals: At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 28, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"你们这里有NFC果汁吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(NFCJuice, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 29, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink), Available(CocountMilk), Available(Milk),NotHodding}\nchat_list: [(Customer, \"请问这里有牛奶吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Milk, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 30, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink), Available(CocountMilk),NotHodding}\nchat_list: [(Customer, \"你们这里有椰奶吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(CocountMilk, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 31, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink),NotHodding}\nchat_list: [(Customer, \"请给我来一瓶酸奶饮料。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备一瓶酸奶饮料\nGoals: At(YogurtDrink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 32, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink),NotHodding}\nchat_list: [(Customer, \"你们这里有酸奶饮料吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(YogurtDrink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 33, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table), Available(YogurtDrink), Available(Drink),NotHodding}\nchat_list: [(Customer, \"服务员，请给我来几瓶饮料。\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您准备几瓶饮料\nGoals: At(Drink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 34, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"你们这里有饮料吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Drink, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 35, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar), NotHolding, Available(Table), At(Customer,Table),NotHodding}\nchat_list: [(Customer, \"请问这里有咖啡吗？\")]"}, {"role": "bot", "content": "Response: 有的，请稍等片刻\nGoals: At(Coffee, Bar), At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 36, "chat_rounds": [{"role": "human", "content": "State：{At(Robot,Bar),Holding(VacuumCup),Available(Table),Available(CoffeeMachine),Available(Bar),At(Customer,Table),NotHodding}\nchat_list: [(Customer, “你好，可以给我来一杯咖啡吗？”)]"}, {"role": "bot", "content": "Response: 没问题，请稍等\nGoals: At(Coffee,Table)"}]}
{"data_name": "100_data", "id": 37, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar),NotHodding,Available(Customer),At(Customer, Table)}\nchat_list: [(Customer, “服务员，过来一下”)]"}, {"role": "bot", "content": "Response: 好的，我这就过来\nGoals: At(Robot, Table)"}]}
{"data_name": "100_data", "id": 38, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar),Holding(VacuumCup),Available(Table),Available(CoffeeMachine),At(Customer,Bar),NotHodding}\nchat_list: [(Customer, “有酸奶吗？”)]"}, {"role": "bot", "content": "Response: 有，我这就去拿\nGoals: At(Yogurt,Bar),At(Robot,Bar)"}]}
{"data_name": "100_data", "id": 39, "chat_rounds": [{"role": "human", "content": "State: {At(Robot,Bar),Available(Table),At(Customer,Bar),NotHodding}\nchat_list: [(Customer, “我天，今天人可真多，不知道有没有空的位置”)]"}, {"role": "bot", "content": "Response: 有的，请跟我来\nGoals: At(Customer,Table),At(Robot,Table)"}]}
{"data_name": "100_data", "id": 40, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table),Available(Water),Holding(Glass),NotHodding}\nchat_list: [(Customer, \"可以给我倒一杯水吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我给您倒一杯水。\nGoals: NotHolding, At(Water, Table)"}]}
{"data_name": "100_data", "id": 41, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"这里太暗了，可以开一些灯吗？\")]"}, {"role": "bot", "content": "Response: 可以的，我这就去调整灯光。\nGoals: At(Robot, LightSwitchArea), HallLightOn"}]}
{"data_name": "100_data", "id": 42, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, CoffeeMachineArea), NotHolding, At(Customer, Bar),HallLightOn,NotHodding}\nchat_list: [(Customer, \"太阳好大啊，有点晃眼\")]"}, {"role": "bot", "content": "Response: 不好意思，我去拉一下窗帘\nGoals: CurtainsClosed"}]}
{"data_name": "100_data", "id": 43, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我有点头疼，可以帮我找点止疼药吗？\")]"}, {"role": "bot", "content": "Response: 很抱歉，我们不提供药物，但我可以为您找个安静的位置。\nGoals: At(Robot, Table), At(Customer, Table)"}]}
{"data_name": "100_data", "id": 44, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, LightsOn,NotHodding}\nchat_list: [(Customer, \"你好，这里好暗，能帮我开一下灯吗？”)]"}, {"role": "bot", "content": "Response: 当然可以，我马上为您开灯。\nGoals: HallLightOn"}]}
{"data_name": "100_data", "id": 45, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我们想吃点心，可以拿来吗？\")]"}, {"role": "bot", "content": "Response: 好的，我这就给您拿过来。\nGoals: At(Snack, Table)"}]}
{"data_name": "100_data", "id": 46, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"给我来杯咖啡和面包，可以吗\")]"}, {"role": "bot", "content": "Response: 没问题，我这就给您拿过来。\nGoals: At(Snack, Table),At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 47, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"你好，请给我来一杯可乐。\")]"}, {"role": "bot", "content": "Response: 当然，请稍等片刻。\nGoal: At(Softdrink, Table)"}]}
{"data_name": "100_data", "id": 48, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"能帮我倒一杯咖啡吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我这就去帮您倒咖啡。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 49, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"请问有面包吗？\")]"}, {"role": "bot", "content": "Response: 是的，我这就去拿给您。\nGoal: At(Bread, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 50, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Table), Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"服务员，我想点一份酸奶。\")]"}, {"role": "bot", "content": "Response: 没问题，我马上为您准备。\nGoal: At(Yogurt, Table)"}]}
{"data_name": "100_data", "id": 51, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"请问还有空桌子吗？\")]"}, {"role": "bot", "content": "Response: 非常抱歉，目前所有桌子都已经被占用了。\nGoal: At(Robot, Bar)"}]}
{"data_name": "100_data", "id": 52, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"能给我倒杯水吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，我给您倒一杯水。\nGoal: NotHolding, At(Water, Table)"}]}
{"data_name": "100_data", "id": 53, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"请问这里有冰咖啡吗？\")]"}, {"role": "bot", "content": "Response: 是的，我这就为您冲一杯冰咖啡。\nGoal: At(IcedCoffee, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 54, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"服务员，能帮我把桌子擦一下吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请稍等片刻。\nGoal: At(Robot, MopArea), At(Customer, Table)"}]}
{"data_name": "100_data", "id": 55, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"请问洗手间在哪里？\")]"}, {"role": "bot", "content": "Response: 洗手间在餐厅的门口右边，请跟我来。\nGoal: At(Customer, Restroom), At(Robot, RestroomDoorway)"}]}
{"data_name": "100_data", "id": 56, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"你好，请告诉我怎么去卫生间。\")]"}, {"role": "bot", "content": "Response: 当然，请跟我来。\nGoal: At(Robot, Restroom), At(Customer, Restroom)"}]}
{"data_name": "100_data", "id": 57, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"服务员，可以帮我指引到空位吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请跟我来。\nGoal: At(Customer, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 58, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"嘿，服务员！来点酷爽的软饮料吧！\")]"}, {"role": "bot", "content": "Response: 当然，我会给你找一个能让你凉爽起来的软饮料。\nGoal: At(Softdrink, Table)"}]}
{"data_name": "100_data", "id": 59, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"嗨，你能帮我调制一杯香醇的卡布奇诺吗？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我用我的魔法调制出一杯令人陶醉的卡布奇诺。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 60, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"有没有新鲜出炉的面包？我想要一块。\")]"}, {"role": "bot", "content": "Response: 是的，我这就去找一块刚出炉的面包给您。\nGoal: At(Bread, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 61, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Table), Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"嘿，够呛，这里还能坐下一个吗？\")]"}, {"role": "bot", "content": "Response: 呃，不好意思，我们的座位已经快被抢光了。\nGoal: At(Robot, Bar)"}]}
{"data_name": "100_data", "id": 62, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"请给我来一杯清凉的冰水。\")]"}, {"role": "bot", "content": "Response: 当然，请让我为您倾情倒上一杯冰凉解渴的水。\nGoal: NotHolding, At(Water, Table)"}]}
{"data_name": "100_data", "id": 63, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"嘿，这里有没有冷冻咖啡？\")]"}, {"role": "bot", "content": "Response: 当然有！冷冻咖啡能帮你在炎热的夏日保持冷静。\nGoal: At(FrozenCoffee, Table), At(Robot, Table)"}]}
{"data_name": "100_data", "id": 64, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"喂，服务员，能不能给我擦擦桌子？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我用魔法拂去桌面上的一切灰尘。\nGoal: At(Robot, MopArea), At(Customer, Table)"}]}
{"data_name": "100_data", "id": 65, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"请问洗手间在哪里？\")]"}, {"role": "bot", "content": "Response: 如果您不知道如何找到洗手间，我可以引领您进入一个令人愉悦的世界。\nGoal: At(Customer, Restroom), At(Robot, Restroom)"}]}
{"data_name": "100_data", "id": 66, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"服务员，你能给我找个空座位吗？\")]"}, {"role": "bot", "content": "Response: 我是你的私人导航，让我带领您找一个舒适的座位，但请记得在我的引导下保持安全距离。\nGoal: At(Customer, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 67, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"我需要一杯浓郁的摩卡。你能帮我调制吗？\")]"}, {"role": "bot", "content": "Response: 绝对没问题！我将为您调制一杯令人难以抗拒的摩卡。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 68, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"可以给我来一份椰子水吗？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我给您带来一份清凉解渴的椰子水。\nGoal: At(CocountWater, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 69, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"请给我来杯冷冻柠檬水。\")]"}, {"role": "bot", "content": "Response: 当然可以！让我为您倒上一杯冰凉可口的冷冻柠檬水。\nGoal: NotHolding, At(LemonWater, Table)"}]}
{"data_name": "100_data", "id": 70, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),HallLightO,NotHodding}\nchat_list: [(Customer, \"你们这里的灯光太刺眼了，能不能调暗一点？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我把灯光调整到恰到好处的舒适亮度。\nGoal: At(Robot, LightSwitchArea)，Not(HallLightOn)"}]}
{"data_name": "100_data", "id": 71, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"嗨，有没有特殊口味的拿铁？\")]"}, {"role": "bot", "content": "Response: 当然有！让我为您调制出一杯独具风味的特色拿铁。\nGoal: At(Coffee, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 72, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"服务员，这桌子上有点脏，请帮我擦一下。\")]"}, {"role": "bot", "content": "Response: 当然可以，让我为您清扫一下，让桌子焕然一新。\nGoal: Wiping,At(Robot, Table)"}]}
{"data_name": "100_data", "id": 73, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"你好，请给我来一杯花式咖啡。\")]"}, {"role": "bot", "content": "Response: 当然可以！让我为您展现一场关于咖啡的艺术表演。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 74, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我想要一个玻璃杯。你能给我找一个吗？\")]"}, {"role": "bot", "content": "Response: 当然可以！请稍等片刻，我会找到一个精致的玻璃杯给您。\nGoal: At(Glass, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 75, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Table), Available(MilkDrink), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"你们这里有牛奶吗？\")]"}, {"role": "bot", "content": "Response: 当然有！我们的啤酒拥有丰富的口感和独特的风味。\nGoal: At(MilkDrink, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 76, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"请给我来一杯温水。\")]"}, {"role": "bot", "content": "Response: 当然可以！让我为您倒上一杯舒适宜人的温水。\nGoal: NotHolding, At(Water, Table)"}]}
{"data_name": "100_data", "id": 77, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Customer), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"你们的这里真漂亮，能不能调节一下气温？\")]"}, {"role": "bot", "content": "Response: 当然可以！让我用魔法为您创造一个恰到好处的环境温度。\nGoal: At(Robot, AirConditionerArea)，AirConditionerOn"}]}
{"data_name": "100_data", "id": 78, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"喂，服务员，你们这里有甜点吗？\")]"}, {"role": "bot", "content": "Response: 当然有！我们的甜点会让您的味蕾跳动不已。\nGoal: At(Bread, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 79, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(VacuumCup), Available(Table), Available(NFCJuice), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"有没有新鲜挤的果汁？我想要一杯。\")]"}, {"role": "bot", "content": "Response: 是的，我们有新鲜挤的果汁供应。请稍等片刻，我会为您准备一杯口感极佳的果汁。\nGoal: At(NFCJuice, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 80, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Table), Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"嘿，这里有没有甜品？我想尝一下。\")]"}, {"role": "bot", "content": "Response: 当然有！我们的甜品将为您带来满足味蕾的愉悦体验。\nGoal: At(Bread, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 81, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Customer, Table), Available(Water), Holding(Glass),NotHodding}\nchat_list: [(Customer, \"请给我来一杯柠檬茶。\")]"}, {"role": "bot", "content": "Response: 当然可以！让我为您倒上一杯清新爽口的柠檬茶。\nGoal: NotHolding, At(NFCJuice, Table)"}]}
{"data_name": "100_data", "id": 82, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Holding(Mug), Available(Table), Available(CoffeeMachine), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"嗨，我需要一杯加冰的美式咖啡。\")]"}, {"role": "bot", "content": "Response: 没问题！让我为您准备一杯酷爽的加冰美式咖啡。\nGoal: NotHolding, At(Coffee, Table)"}]}
{"data_name": "100_data", "id": 83, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Softdrink), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"请问这里有没有能量饮料？我需要提神一下。\")]"}, {"role": "bot", "content": "Response: 当然有！我们的能量饮料会为您注入活力和精力。\nGoal: At(Softdrink, Table)，At(Robot, Table)"}]}
{"data_name": "100_data", "id": 84, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), NotHolding, Available(Customer), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"服务员，你们这里有什么特色饮品推荐吗？\")]"}, {"role": "bot", "content": "Response: 当然有！我们的特色饮品将带您领略独特的口味体验。\nGoal: At(Coffee,Table)"}]}
{"data_name": "100_data", "id": 85, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Glove, Bar), NotHolding, At(Customer, Entrance),NotHodding}\nchat_list: [(Customer, \"外面下雨了，你们有雨伞借一下吗？\")]"}, {"role": "bot", "content": "Response: 有的，请等一下，我给您拿雨伞。\nGoal: At(Umbrella, Bar), At(Robot, Bar)"}]}
{"data_name": "100_data", "id": 86, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(CoffeeMachine, Bar), At(Customer, Bar), NotHolding,NotHodding}\nchat_list: [(Customer, \"可以帮我冲一杯咖啡吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，您稍等一下。\nGoal: At(Coffee, Bar)"}]}
{"data_name": "100_data", "id": 87, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Cake, Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"过来一下，我想要个蛋糕。\")]"}, {"role": "bot", "content": "Response: 好的，您想要什么口味的蛋糕？\nGoal: At(Robot, Table), At(Cake, Table)"}]}
{"data_name": "100_data", "id": 88, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Mug, Bar), NotHolding, Available(CoffeeMachine), At(Customer, Entrance),NotHodding}\nchat_list: [(Customer, \"我可以自己弄一杯咖啡吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请让我带您到咖啡机旁边。\nGoal: At(Customer, CoffeeMachine), At(Robot, CoffeeMachine)"}]}
{"data_name": "100_data", "id": 89, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding,NotHodding}\nchat_list: [(Customer, \"我找不到洗手间，能带我去一下吗？\")]"}, {"role": "bot", "content": "Response: 当然可以，请跟我来。\nGoal: At(Robot, Restroom), At(Customer, Restroom)"}]}
{"data_name": "100_data", "id": 90, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Table), At(Milk, Bar), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"小朋友想喝牛奶，可以拿一杯吗？\")]"}, {"role": "bot", "content": "Response: 好的，马上为您拿来。\nGoal: At(Milk, Table)"}]}
{"data_name": "100_data", "id": 91, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Gauze), At(Customer, Bar),NotHodding}\nchat_list: [(Customer, \"我手上划了一下，有纱布吗？\")]"}, {"role": "bot", "content": "Response: 有的，我这就给您拿过来。\nGoal: At(Gauze, Bar)"}]}
{"data_name": "100_data", "id": 92, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Chess), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我可以在休息区下一局棋吗？\")]"}, {"role": "bot", "content": "Response: 当然，我这就为您拿棋盘。\nGoal: At(Chess, Table)"}]}
{"data_name": "100_data", "id": 93, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), At(Novel, Shelf), At(Customer, Table),NotHodding}\nchat_list: [(Customer, \"我可以借一本小说看看吗？\")]"}, {"role": "bot", "content": "Response: 可以的，我帮您拿一本。\nGoal: At(Novel, Table)"}]}
{"data_name": "100_data", "id": 94, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Available(Kettle), Available(Teacup), At(Customer, Table),NotHodding}\nchat_list: \"我能喝点热水吗？\""}, {"role": "bot", "content": "Response: 好的，我这就给您倒。\nGoal: At(Kettle, Table), Holding(Robot, Teacup), At(Teacup, Table)"}]}
{"data_name": "100_data", "id": 95, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, LightsOn, At(Customer, Bar),TubeLightOn,NotHodding}\nchat_list: \"这里太亮了，可以关一些灯吗？\""}, {"role": "bot", "content": "Response: 可以的，我这就去调整灯光。\nGoal: Not(TubeLightOn)"}]}
{"data_name": "100_data", "id": 96, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), Available(Box), At(Customer, Table), NotHolding,NotHodding}\nchat_list: \"请问你们这里有纸巾吗？\""}, {"role": "bot", "content": "Response: 有的，我现在就给您拿过去。\nGoal: At(Tissue, Table)"}]}
{"data_name": "100_data", "id": 97, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, At(Customer, Bar),NotHodding}\nchat_list: \"我有点头疼，可以帮我找点止疼药吗？\""}, {"role": "bot", "content": "Response: 很抱歉，我们不提供药物，但我可以为您找个安静的位置。\nGoal: At(Robot, Table), At(Customer, Table)"}]}
{"data_name": "100_data", "id": 98, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Softdrink), At(Customer, Table),NotHodding}\nchat_list: \"这瓶饮料好像没有打开，你能帮我打开吗？\""}, {"role": "bot", "content": "Response: 当然可以，我这就帮您。\nGoal: Holding(Robot,Softdrink),At(Robot, Table)"}]}
{"data_name": "100_data", "id": 99, "chat_rounds": [{"role": "human", "content": "State: {At(Robot, Bar), NotHolding, Available(Softdrink), At(Customer, Table),NotHodding}\nchat_list: \"这地板好脏啊，可以拖一下吗？\""}, {"role": "bot", "content": "Response: 当然可以，我这就来扫地。\nGoal: Wiping,At(Robot, MopArea)"}]}

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robowaiter/llm_client/data_tools/__init__.py Normal file
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robowaiter/llm_client/data_tools/create_csv.py Normal file
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import csv
# CSV文件的路径
csv_file_path = 'test_questions.csv'
# 要写入CSV文件的数据，每个元素是一行
rows = [
["Question", "Answer", "Goal"], # 表头
["Alice", "24", "New York"],
["Bob", "30", "San Francisco"],
["Charlie", "18", "Los Angeles"]
]
# 打开（或创建）文件进行写入
with open(csv_file_path, mode='w', newline='', encoding='utf-8') as file:
# 创建一个CSV写入器
writer = csv.writer(file)
# 写入数据
for row in rows:
writer.writerow(row)
print(f"CSV file '{csv_file_path}' created successfully.")

26
robowaiter/llm_client/data_tools/csv2dict.py Normal file
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@ -0,0 +1,26 @@
import csv
import json
file_name = "test_questions"
# CSV文件的路径
csv_file_path = f'../data_raw/{file_name}.csv'
# Dict输出文件的路径
dict_file_path = f'../data/{file_name}.txt'
output_dict = {}
# 打开CSV文件和JSONL文件
with open(csv_file_path, mode='r', encoding='gbk') as csv_file, \
open(dict_file_path, mode='w', encoding='utf-8') as jsonl_file:
# 创建CSV阅读器
reader = csv.DictReader(csv_file)
# 遍历CSV文件中的每一行
for row in reader:
print(row)
output_dict[row["Question"]]={"Answer":row["Answer"],"Goal":row["Goal"]}
# 将每行转换为JSON字符串
json_str = json.dumps(output_dict, ensure_ascii=False)
# 将JSON字符串写入JSONL文件，并添加换行符
jsonl_file.write(json_str + '\n')

21
robowaiter/llm_client/data_tools/csv2jsonl.py Normal file
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@ -0,0 +1,21 @@
import csv
import json
# CSV文件的路径
csv_file_path = 'test_questions.csv'
# JSONL输出文件的路径
jsonl_file_path = '../data/data.jsonl'
# 打开CSV文件和JSONL文件
with open(csv_file_path, mode='r', encoding='gbk') as csv_file, \
open(jsonl_file_path, mode='w', encoding='utf-8') as jsonl_file:
# 创建CSV阅读器
reader = csv.DictReader(csv_file)
# 遍历CSV文件中的每一行
for row in reader:
# 将每行转换为JSON字符串
json_str = json.dumps(row, ensure_ascii=False)
# 将JSON字符串写入JSONL文件，并添加换行符
jsonl_file.write(json_str + '\n')

28
robowaiter/llm_client/data_tools/jsonl2csv.py Normal file
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@ -0,0 +1,28 @@
import json
import csv
data_name = "train_100_1109"
jsonl_data = f"../data_raw/{data_name}.csv"
csv_file_path = f"../data/{data_name}.csv"
# 转换函数
def convert_json_to_csv(json_data, csv_file_path):
# CSV文件的路径
# 打开（或创建）文件进行写入
with open(csv_file_path, mode='w', newline='', encoding='utf-8') as file:
# 创建一个CSV写入器
writer = csv.writer(file)
# 写入表头
writer.writerow(["Question", "Answer", "Goal"])
# 提取Question, Answer, Goal 并写入CSV
for round in json_data["chat_rounds"]:
if round["role"] == "human":
# 提取Question
question = round["content"].split('\nchat_list: ')[0].replace('State: ', '').strip()
elif round["role"] == "bot":
# 提取Answer和Goal
answer = round["content"].split('\nGoals: ')[0].replace('Response: ', '').strip()
goal = round["content"].split('\nGoals: ')[1].strip()
# 写入到CSV文件
writer.writerow([question, answer, goal])

38
robowaiter/llm_client/data_tools/read_jsonl.py Normal file
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@ -0,0 +1,38 @@
import json
def print_json(j):
json_string = json.dumps(j, indent=4)
print(json_string)
# 假设你有一个名为"data.jsonl"的文件
filename = '../data_raw/train_100_1109.json'
with open(filename, 'r',encoding="utf-8") as file:
records = eval(file.read())
# 打开一个文件用于写入
with open('../data/train_100_1109.jsonl', 'w', encoding='utf-8') as f:
for record in records:
# 将字典转换为JSON字符串，并确保使用UTF-8编码
json_record = json.dumps(record, ensure_ascii=False)
# 将JSON字符串写入文件，并添加换行符以分隔记录
f.write(json_record + '\n')
# record = json.loads(filename)
# print_json(record)
# 打开文件进行读取
# with open(filename, 'r',encoding="gbk") as file:
# for line in file:
# # 解析每一行的JSON内容
# record = json.loads(line)
# # 现在你可以处理每一个JSON对象（Python字典）
#
# # 将Python字典转换为格式化的JSON字符串
# json_string = json.dumps(record, indent=4)
# print(json_string)

2
robowaiter/llm_client/single_round.py
View File

@ -37,7 +37,7 @@ def single_round(question):
if __name__ == '__main__':
question = '''
python中如何通过类名字符串的方式来代替isinstance的作用
给我一杯拿铁
'''
print(single_round(question))

31
robowaiter/scene/scene.py
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@ -80,19 +80,6 @@ class Scene:
self.op_typeToAct = {8:[6,2],9:[6,3],10:[6,4],11:[8,1],12:[8,2]}
def _reset(self):
# 场景自定义的reset
pass
def _run(self):
# 场景自定义的run
pass
def _step(self):
# 场景自定义的step
pass
def reset(self):
# 基类reset，默认执行仿真器初始化操作
self.reset_sim()
@ -149,6 +136,19 @@ class Scene:
stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID))
def _reset(self):
# 场景自定义的reset
pass
def _run(self):
# 场景自定义的run
pass
def _step(self):
# 场景自定义的step
pass
@ -162,10 +162,13 @@ class Scene:
pose=GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw),
)
def walk_to(self, X, Y, Yaw, velocity=150, dis_limit=100):
def walk_to(self, X, Y, Yaw=None, velocity=200, dis_limit=0):
if self.use_offset:
X, Y = X + loc_offset[0], Y + loc_offset[1]
if Yaw is None:
Yaw = self.status.rotation.Yaw
v = [X, Y, Yaw - 90, velocity, dis_limit]
print(v)
action = GrabSim_pb2.Action(

2
robowaiter/utils/__init__.py
View File

@ -8,5 +8,5 @@ from robowaiter.utils import *
def get_root_path():
return os.path.abspath(
os.path.join(__file__, "../..")
os.path.join(__file__, "../../..")
)

1
zoo/install_pytorch.sh Normal file
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@ -0,0 +1 @@
conda install pytorch==1.11.0 torchvision==0.12.0 torchaudio==0.11.0 cudatoolkit=11.3 -c pytorch