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RoboWaiter
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UPDATE: 更新了数据集内部描述

This commit is contained in:
wuziji 2023-11-16 22:19:44 +08:00
parent 3348a1fd8e
commit db5277a711
2 changed files with 4165 additions and 4165 deletions
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20
robowaiter/behavior_tree/dataset/goal_states_generation.py
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@ -235,9 +235,9 @@ def enumerate_goal_states_with_describe() -> str:
print(count) print(count)
for i in range(count): for i in range(count):
tmp = '#' + res[i].split(',')[-1][:-1] tmp = '#' + res[i].split(',')[-1][:-1]
file.write(f'{res[i]}\t机器人请你来一下{tmp}。\n') file.write(f'{res[i]}\t请你来一下{tmp}。\n')
file.write(f'{res[i]}\t机器人请你去一下{tmp}。\n') file.write(f'{res[i]}\t请你去一下{tmp}。\n')
file.write(f'{res[i]}\t机器人你能去{tmp}那个位置吗？\n') file.write(f'{res[i]}\t你能去{tmp}那个位置吗？\n')
# vlm, on # vlm, on
count, res = enumerate_predict(Object, Place, 'on') count, res = enumerate_predict(Object, Place, 'on')
@ -246,8 +246,8 @@ def enumerate_goal_states_with_describe() -> str:
tmp = res[i].split(',') tmp = res[i].split(',')
obj = '#' + tmp[0][3:] obj = '#' + tmp[0][3:]
pla = '#' + tmp[-1][:-1] pla = '#' + tmp[-1][:-1]
file.write(f'{res[i]}\t机器人请你把{obj}放到{pla}那个位置。\n') file.write(f'{res[i]}\t请你把{obj}放到{pla}那个位置。\n')
file.write(f'{res[i]}\t机器人请你拿一下{obj}到{pla}位置。\n') file.write(f'{res[i]}\t请你拿一下{obj}到{pla}位置。\n')
# vlm, is # vlm, is
count, res = enumerate_predict(Operable, ['0', '1'], 'is') count, res = enumerate_predict(Operable, ['0', '1'], 'is')
@ -255,7 +255,7 @@ def enumerate_goal_states_with_describe() -> str:
for i in res: for i in res:
tmp = i.split(',') tmp = i.split(',')
thing, op = '#' + tmp[0][3:], '#' + tmp[-1] thing, op = '#' + tmp[0][3:], '#' + tmp[-1]
file.write('%s\t%s\n' % (i, translate_zero_one(f'机器人，你能把{thing}{op}一下吗？'))) file.write('%s\t%s\n' % (i, translate_zero_one(f'你能把{thing}{op}一下吗？')))
# vlm, holding # vlm, holding
count, res = enumerate_predict(Object + ['Nothing'], None, 'hold') count, res = enumerate_predict(Object + ['Nothing'], None, 'hold')
@ -263,10 +263,10 @@ def enumerate_goal_states_with_describe() -> str:
for i in res: for i in res:
tmp = '#' + i.split('(')[-1][:-1] tmp = '#' + i.split('(')[-1][:-1]
if tmp == 'Nothing': if tmp == 'Nothing':
file.write(f'{i}\t机器人你手里是没有东西的吗？\n') file.write(f'{i}\t你手里是没有东西的吗？\n')
continue continue
file.write(f'{i}\t机器人你能把{tmp}抓在手里吗？\n') file.write(f'{i}\t你能把{tmp}抓在手里吗？\n')
file.write(f'{i}\t机器人你能一直拿着{tmp}吗？\n') file.write(f'{i}\t你能一直拿着{tmp}吗？\n')
count, res = enumerate_predict(Cookable, Place, 'on') count, res = enumerate_predict(Cookable, Place, 'on')
print(count) print(count)
@ -288,7 +288,7 @@ def mutex(path: str):
check = ['#Bar2', '#WaterTable', '#CoffeeTable', '#Bar', '#Table1', '#Table2', '#Table3', '#Coffee', '#Water', check = ['#Bar2', '#WaterTable', '#CoffeeTable', '#Bar', '#Table1', '#Table2', '#Table3', '#Coffee', '#Water',
'#Dessert', '#Softdrink', '#BottledDrink', '#Yogurt', '#ADMilk', '#MilkDrink', '#Milk', '#VacuumCup', '#AC', '#Dessert', '#Softdrink', '#BottledDrink', '#Yogurt', '#ADMilk', '#MilkDrink', '#Milk', '#VacuumCup', '#AC',
'#ACTemperature', '#HallLight', '#TubeLight', '#Curtain', '#Chairs', '#Floor', '#Table1'] '#ACTemperature', '#HallLight', '#TubeLight', '#Curtain', '#Chairs', '#Floor', '#Table1']
repla = ['#另一个吧台', '#水杯桌', '#咖啡桌', '#吧台', '#第一张桌子', '#第二张桌子', '#第三张桌子', '#咖啡', '#水', repla = ['#另一个吧台', '#茶水桌', '#咖啡桌', '#吧台', '#第一张桌子', '#第二张桌子', '#第三张桌子', '#咖啡', '#水',
'#点心或者甜品', '#软饮料', '#瓶装饮料', '#酸奶', '#AD钙奶', '#牛奶饮料', '#牛奶', '#保温杯', '#空调', '#点心或者甜品', '#软饮料', '#瓶装饮料', '#酸奶', '#AD钙奶', '#牛奶饮料', '#牛奶', '#保温杯', '#空调',
'#空调温度', '#大厅灯', '#筒灯', '#窗帘', '#椅子', '#地板', '#第一张桌子'] '#空调温度', '#大厅灯', '#筒灯', '#窗帘', '#椅子', '#地板', '#第一张桌子']

8310
robowaiter/behavior_tree/dataset/goal_states_with_description.txt
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