更新BT的合并算法
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Caiyishuai
parent
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commit
c588c31fa5
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@ -47,165 +47,11 @@ def single_round(question, prefix=""):
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if __name__ == '__main__':
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if __name__ == '__main__':
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question = '''
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question = '''
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from actions import MoveTo (<obj>/<place>), PickUp (<obj>), PutDown (<obj>,<place>), PutDown(Anything,Anywhere), Make (<obj2>), Clean (<obj3>), Turn (<obj4>,<obj4state>)
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给我来杯咖啡
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from states import At (Robor,<obj>/<place>), On (<obj>,<place>), Holding (<obj>), Is (<obj4>,<obj4state>), Exist (<obj>)
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obj=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater']
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place=['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6']
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obj2=['Coffee', 'Water', 'Dessert']
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obj3=['Table1','Floor','Chairs']
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obj4=['AC','TubeLight','HallLight','Curtain','ACTemperature']
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obj4state=['On','Off','Up','Down']
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)','Exist(VacuumCup)',
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'Holding(Coffee)',
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'On(VacuumCup,Table2)', 'On(Yogurt,Bar)', 'On(BottledDrink,Bar)', 'On(Softdrink,Table1)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_SoftDrink_on_WaterTable(currents_state):
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selector
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cond On(Softdrink,WaterTable)
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sequence
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cond Holding(Softdrink)
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selector
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sequence
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cond At(Robot,WaterTable)
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act PutDown(Softdrink,WaterTable)
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act MoveTo(WaterTable)
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sequence
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cond At(Robot,Softdrink)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Softdrink)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Softdrink)
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act MoveTo(Softdrink)
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currents_state={'At(Robot,Bar)', 'Is(AC,On)',
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'Exist(Yogurt)', 'Exist(BottledDrink)',
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'Exist(Chips)', 'Exist(VacuumCup)', 'Exist(ADMilk)',
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'Holding(Nothing)',
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'On(VacuumCup,Table2)', 'On(Chips,Bar)','On(ADMilk,Bar)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Dessert_on_Bar(currents_state):
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selector
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cond On(Dessert,Bar)
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sequence
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cond Holding(Nothing)
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act Make(Dessert)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(VacuumCup)','Exist(Coffee)',
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'On(VacuumCup,Table2)', 'On(Coffee,CoffeeTable)',
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'Holding(Nothing)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Coffee_on_Bar(currents_state):
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selector
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cond On(Coffee,Bar)
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sequence
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cond Holding(Coffee)
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selector
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sequence
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cond At(Robot,Bar)
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act PutDown(Coffee,Bar)
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act MoveTo(Bar)
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sequence
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cond At(Robot,Coffee)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Coffee)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Coffee)
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cond Holding(Nothing)
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act MoveTo(Coffee)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(VacuumCup)', 'Exist(Yogurt)',
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'On(VacuumCup,Table2)',
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'Holding(Yogurt)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Coffee_on_Bar(currents_state):
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selector
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cond On(Coffee,Bar)
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sequence
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cond Holding(Coffee)
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selector
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sequence
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cond At(Robot,Bar)
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act PutDown(Coffee,Bar)
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act MoveTo(Bar)
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sequence
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cond At(Robot,Coffee)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Coffee)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Coffee)
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act MoveTo(Coffee)
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sequence
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cond Holding(Nothing)
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act Make(Coffee)
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sequence
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cond At(Robot,Bar)
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cond Holding(Yogurt)
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act PutDown(Yogurt,Bar)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)',
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)',
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'Holding(Softdrink)',
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Clean)', 'Is(Floor,Clean)', 'Is(Chairs,Clean)'}
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def Turn_AC_Temperature_Down(currents_state):
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selector
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cond Is(ACTemperature,Down)
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sequence
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cond Is(AC,On)
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selector
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sequence
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cond Holding(Nothing)
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act Turn(ACTemperature,Down)
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act PutDown(Anything,Anywhere)
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sequence
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cond Is(AC,Off)
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selector
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sequence
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cond Holding(Nothing)
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act Turn(AC,On)
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act PutDown(Anything,Anywhere)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)','Exist(VacuumCup)','Exist(Coffee)',
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'Holding(Nothing)',
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'On(Yogurt,Bar)','On(VacuumCup,Table2)','On(Coffee,CoffeeTable)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_one_Coffee_on_WaterTable_and_Put_another_Coffee_on_BrightTable6
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(currents_state):
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Please write the content of this function based on the content of currents_state
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Please write the content of this function based on the content of currents_state
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'''
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'''
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import timeit
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import timeit
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cur_time = time.time()
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cur_time = time.time()
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print(single_round(question))
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# print(single_round(question))
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# print(single_round(question, prefix='现在给出符合这句话要求的目标状态: '))
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print(single_round(question, prefix='现在给出符合这句话要求的目标状态: '))
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print(f"单次生成耗时：{time.time() - cur_time} s \n")
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print(f"单次生成耗时：{time.time() - cur_time} s \n")
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