├── .allennlp_plugins ├── .github └── pull_request_template.md ├── .gitignore ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── Config ├── LICENSE ├── README.md ├── configs ├── ai2thor_vocab.json └── rewards.json ├── grolp ├── __init__.py ├── data │ └── __init__.py ├── envs │ ├── __init__.py │ ├── reward.py │ ├── tasks.py │ └── thor_env.py ├── eval │ ├── eval.py │ ├── eval_seq2seq.py │ ├── eval_subgoals.py │ ├── eval_task.py │ └── leaderboard.py ├── gen │ ├── README.md │ ├── __init__.py │ ├── agents │ │ ├── agent_base.py │ │ ├── deterministic_planner_agent.py │ │ ├── plan_agent.py │ │ └── semantic_map_planner_agent.py │ ├── constants.py │ ├── ff_planner │ │ ├── README.md │ │ ├── expressions.c │ │ ├── expressions.h │ │ ├── ff.h │ │ ├── inst_easy.c │ │ ├── inst_easy.h │ │ ├── inst_final.c │ │ ├── inst_final.h │ │ ├── inst_hard.c │ │ ├── inst_hard.h │ │ ├── inst_pre.c │ │ ├── inst_pre.h │ │ ├── lex-fct_pddl.l │ │ ├── lex-ops_pddl.l │ │ ├── main.c │ │ ├── makefile │ │ ├── memory.c │ │ ├── memory.h │ │ ├── output.c │ │ ├── output.h │ │ ├── parse.c │ │ ├── parse.h │ │ ├── relax.c │ │ ├── relax.h │ │ ├── run_sample.sh │ │ ├── samples │ │ │ ├── PutTask_domain.pddl │ │ │ └── problem_0_0.pddl │ │ ├── scan-fct_pddl.y │ │ ├── scan-ops_pddl.y │ │ ├── search.c │ │ └── search.h │ ├── game_states │ │ ├── __init__.py │ │ ├── game_state_base.py │ │ ├── planned_game_state.py │ │ ├── task_game_state.py │ │ └── task_game_state_full_knowledge.py │ ├── goal_library.py │ ├── graph │ │ ├── __init__.py │ │ └── graph_obj.py │ ├── layouts │ │ ├── FloorPlan1-layout.npy │ │ ├── FloorPlan1-objects.json │ │ ├── FloorPlan1-openable.json │ │ ├── FloorPlan10-layout.npy │ │ ├── FloorPlan10-objects.json │ │ ├── FloorPlan10-openable.json │ │ ├── FloorPlan11-layout.npy │ │ ├── FloorPlan11-objects.json │ │ ├── FloorPlan11-openable.json │ │ ├── FloorPlan12-layout.npy │ │ ├── FloorPlan12-objects.json │ │ ├── FloorPlan12-openable.json │ │ ├── FloorPlan13-layout.npy │ │ ├── FloorPlan13-objects.json │ │ ├── FloorPlan13-openable.json │ │ ├── FloorPlan14-layout.npy │ │ ├── FloorPlan14-objects.json │ │ ├── FloorPlan14-openable.json │ │ ├── FloorPlan15-layout.npy │ │ ├── FloorPlan15-objects.json │ │ ├── FloorPlan15-openable.json │ │ ├── FloorPlan16-layout.npy │ │ ├── FloorPlan16-objects.json │ │ ├── FloorPlan16-openable.json │ │ ├── FloorPlan17-layout.npy │ │ ├── FloorPlan17-objects.json │ │ ├── FloorPlan17-openable.json │ │ ├── FloorPlan18-layout.npy │ │ ├── FloorPlan18-objects.json │ │ ├── FloorPlan18-openable.json │ │ ├── FloorPlan19-layout.npy │ │ ├── FloorPlan19-objects.json │ │ ├── FloorPlan19-openable.json │ │ ├── FloorPlan2-layout.npy │ │ ├── FloorPlan2-objects.json │ │ ├── FloorPlan2-openable.json │ │ ├── FloorPlan20-layout.npy │ │ ├── FloorPlan20-objects.json │ │ ├── FloorPlan20-openable.json │ │ ├── FloorPlan201-layout.npy │ │ ├── FloorPlan201-objects.json │ │ ├── FloorPlan201-openable.json │ │ ├── FloorPlan202-layout.npy │ │ ├── FloorPlan202-objects.json │ │ ├── FloorPlan202-openable.json │ │ ├── FloorPlan203-layout.npy │ │ ├── FloorPlan203-objects.json │ │ ├── FloorPlan203-openable.json │ │ ├── FloorPlan204-layout.npy │ │ ├── FloorPlan204-objects.json │ │ ├── FloorPlan204-openable.json │ │ ├── FloorPlan205-layout.npy │ │ ├── FloorPlan205-objects.json │ │ ├── FloorPlan205-openable.json │ │ ├── FloorPlan206-layout.npy │ │ ├── FloorPlan206-objects.json │ │ ├── FloorPlan206-openable.json │ │ ├── FloorPlan207-layout.npy │ │ ├── FloorPlan207-objects.json │ │ ├── FloorPlan207-openable.json │ │ ├── FloorPlan208-layout.npy │ │ ├── FloorPlan208-objects.json │ │ ├── FloorPlan208-openable.json │ │ ├── FloorPlan209-layout.npy │ │ ├── FloorPlan209-objects.json │ │ ├── FloorPlan209-openable.json │ │ ├── FloorPlan21-layout.npy │ │ ├── FloorPlan21-objects.json │ │ ├── FloorPlan21-openable.json │ │ ├── FloorPlan210-layout.npy │ │ ├── FloorPlan210-objects.json │ │ ├── FloorPlan210-openable.json │ │ ├── FloorPlan211-layout.npy │ │ ├── FloorPlan211-objects.json │ │ ├── FloorPlan211-openable.json │ │ ├── FloorPlan212-layout.npy │ │ ├── FloorPlan212-objects.json │ │ ├── FloorPlan212-openable.json │ │ ├── FloorPlan213-layout.npy │ │ ├── FloorPlan213-objects.json │ │ ├── FloorPlan213-openable.json │ │ ├── FloorPlan214-layout.npy │ │ ├── FloorPlan214-objects.json │ │ ├── FloorPlan214-openable.json │ │ ├── FloorPlan215-layout.npy │ │ ├── FloorPlan215-objects.json │ │ ├── FloorPlan215-openable.json │ │ ├── FloorPlan216-layout.npy │ │ ├── FloorPlan216-objects.json │ │ ├── FloorPlan216-openable.json │ │ ├── FloorPlan217-layout.npy │ │ ├── FloorPlan217-objects.json │ │ ├── FloorPlan217-openable.json │ │ ├── FloorPlan218-layout.npy │ │ ├── FloorPlan218-objects.json │ │ ├── FloorPlan218-openable.json │ │ ├── FloorPlan219-layout.npy │ │ ├── FloorPlan219-objects.json │ │ ├── FloorPlan219-openable.json │ │ ├── FloorPlan22-layout.npy │ │ ├── FloorPlan22-objects.json │ │ ├── FloorPlan22-openable.json │ │ ├── FloorPlan220-layout.npy │ │ ├── FloorPlan220-objects.json │ │ ├── FloorPlan220-openable.json │ │ ├── FloorPlan221-layout.npy │ │ ├── FloorPlan221-objects.json │ │ ├── FloorPlan221-openable.json │ │ ├── FloorPlan222-layout.npy │ │ ├── FloorPlan222-objects.json │ │ ├── FloorPlan222-openable.json │ │ ├── FloorPlan223-layout.npy │ │ ├── FloorPlan223-objects.json │ │ ├── FloorPlan223-openable.json │ │ ├── FloorPlan224-layout.npy │ │ ├── FloorPlan224-objects.json │ │ ├── FloorPlan224-openable.json │ │ ├── FloorPlan225-layout.npy │ │ ├── FloorPlan225-objects.json │ │ ├── FloorPlan225-openable.json │ │ ├── FloorPlan226-layout.npy │ │ ├── FloorPlan226-objects.json │ │ ├── FloorPlan226-openable.json │ │ ├── FloorPlan227-layout.npy │ │ ├── FloorPlan227-objects.json │ │ ├── FloorPlan227-openable.json │ │ ├── FloorPlan228-layout.npy │ │ ├── FloorPlan228-objects.json │ │ ├── FloorPlan228-openable.json │ │ ├── FloorPlan229-layout.npy │ │ ├── FloorPlan229-objects.json │ │ ├── FloorPlan229-openable.json │ │ ├── FloorPlan23-layout.npy │ │ ├── FloorPlan23-objects.json │ │ ├── FloorPlan23-openable.json │ │ ├── FloorPlan230-layout.npy │ │ ├── FloorPlan230-objects.json │ │ ├── FloorPlan230-openable.json │ │ ├── FloorPlan24-layout.npy │ │ ├── FloorPlan24-objects.json │ │ ├── FloorPlan24-openable.json │ │ ├── FloorPlan25-layout.npy │ │ ├── FloorPlan25-objects.json │ │ ├── FloorPlan25-openable.json │ │ ├── FloorPlan26-layout.npy │ │ ├── FloorPlan26-objects.json │ │ ├── FloorPlan26-openable.json │ │ ├── FloorPlan27-layout.npy │ │ ├── FloorPlan27-objects.json │ │ ├── FloorPlan27-openable.json │ │ ├── FloorPlan28-layout.npy │ │ ├── FloorPlan28-objects.json │ │ ├── FloorPlan28-openable.json │ │ ├── FloorPlan29-layout.npy │ │ ├── FloorPlan29-objects.json │ │ ├── FloorPlan29-openable.json │ │ ├── FloorPlan3-layout.npy │ │ ├── FloorPlan3-objects.json │ │ ├── FloorPlan3-openable.json │ │ ├── FloorPlan30-layout.npy │ │ ├── FloorPlan30-objects.json │ │ ├── FloorPlan30-openable.json │ │ ├── FloorPlan301-layout.npy │ │ ├── FloorPlan301-objects.json │ │ ├── FloorPlan301-openable.json │ │ ├── FloorPlan302-layout.npy │ │ ├── FloorPlan302-objects.json │ │ ├── FloorPlan302-openable.json │ │ ├── FloorPlan303-layout.npy │ │ ├── FloorPlan303-objects.json │ │ ├── FloorPlan303-openable.json │ │ ├── FloorPlan304-layout.npy │ │ ├── FloorPlan304-objects.json │ │ ├── FloorPlan304-openable.json │ │ ├── FloorPlan305-layout.npy │ │ ├── FloorPlan305-objects.json │ │ ├── FloorPlan305-openable.json │ │ ├── FloorPlan306-layout.npy │ │ ├── FloorPlan306-objects.json │ │ ├── FloorPlan306-openable.json │ │ ├── FloorPlan307-layout.npy │ │ ├── FloorPlan307-objects.json │ │ ├── FloorPlan307-openable.json │ │ ├── FloorPlan308-layout.npy │ │ ├── FloorPlan308-objects.json │ │ ├── FloorPlan308-openable.json │ │ ├── FloorPlan309-layout.npy │ │ ├── FloorPlan309-objects.json │ │ ├── FloorPlan309-openable.json │ │ ├── FloorPlan310-layout.npy │ │ ├── FloorPlan310-objects.json │ │ ├── FloorPlan310-openable.json │ │ ├── FloorPlan311-layout.npy │ │ ├── FloorPlan311-objects.json │ │ ├── FloorPlan311-openable.json │ │ ├── FloorPlan312-layout.npy │ │ ├── FloorPlan312-objects.json │ │ ├── FloorPlan312-openable.json │ │ ├── FloorPlan313-layout.npy │ │ ├── FloorPlan313-objects.json │ │ ├── FloorPlan313-openable.json │ │ ├── FloorPlan314-layout.npy │ │ ├── FloorPlan314-objects.json │ │ ├── FloorPlan314-openable.json │ │ ├── FloorPlan315-layout.npy │ │ ├── FloorPlan315-objects.json │ │ ├── FloorPlan315-openable.json │ │ ├── FloorPlan316-layout.npy │ │ ├── FloorPlan316-objects.json │ │ ├── FloorPlan316-openable.json │ │ ├── FloorPlan317-layout.npy │ │ ├── FloorPlan317-objects.json │ │ ├── FloorPlan317-openable.json │ │ ├── FloorPlan318-layout.npy │ │ ├── FloorPlan318-objects.json │ │ ├── FloorPlan318-openable.json │ │ ├── FloorPlan319-layout.npy │ │ ├── FloorPlan319-objects.json │ │ ├── FloorPlan319-openable.json │ │ ├── FloorPlan320-layout.npy │ │ ├── FloorPlan320-objects.json │ │ ├── FloorPlan320-openable.json │ │ ├── FloorPlan321-layout.npy │ │ ├── FloorPlan321-objects.json │ │ ├── FloorPlan321-openable.json │ │ ├── FloorPlan322-layout.npy │ │ ├── FloorPlan322-objects.json │ │ ├── FloorPlan322-openable.json │ │ ├── FloorPlan323-layout.npy │ │ ├── FloorPlan323-objects.json │ │ ├── FloorPlan323-openable.json │ │ ├── FloorPlan324-layout.npy │ │ ├── FloorPlan324-objects.json │ │ ├── FloorPlan324-openable.json │ │ ├── FloorPlan325-layout.npy │ │ ├── FloorPlan325-objects.json │ │ ├── FloorPlan325-openable.json │ │ ├── FloorPlan326-layout.npy │ │ ├── FloorPlan326-objects.json │ │ ├── FloorPlan326-openable.json │ │ ├── FloorPlan327-layout.npy │ │ ├── FloorPlan327-objects.json │ │ ├── FloorPlan327-openable.json │ │ ├── FloorPlan328-layout.npy │ │ ├── FloorPlan328-objects.json │ │ ├── FloorPlan328-openable.json │ │ ├── FloorPlan329-layout.npy │ │ ├── FloorPlan329-objects.json │ │ ├── FloorPlan329-openable.json │ │ ├── FloorPlan330-layout.npy │ │ ├── FloorPlan330-objects.json │ │ ├── FloorPlan330-openable.json │ │ ├── FloorPlan4-layout.npy │ │ ├── FloorPlan4-objects.json │ │ ├── FloorPlan4-openable.json │ │ ├── FloorPlan401-layout.npy │ │ ├── FloorPlan401-objects.json │ │ ├── FloorPlan401-openable.json │ │ ├── FloorPlan402-layout.npy │ │ ├── FloorPlan402-objects.json │ │ ├── FloorPlan402-openable.json │ │ ├── FloorPlan403-layout.npy │ │ ├── FloorPlan403-objects.json │ │ ├── FloorPlan403-openable.json │ │ ├── FloorPlan404-layout.npy │ │ ├── FloorPlan404-objects.json │ │ ├── FloorPlan404-openable.json │ │ ├── FloorPlan405-layout.npy │ │ ├── FloorPlan405-objects.json │ │ ├── FloorPlan405-openable.json │ │ ├── FloorPlan406-layout.npy │ │ ├── FloorPlan406-objects.json │ │ ├── FloorPlan406-openable.json │ │ ├── FloorPlan407-layout.npy │ │ ├── FloorPlan407-objects.json │ │ ├── FloorPlan407-openable.json │ │ ├── FloorPlan408-layout.npy │ │ ├── FloorPlan408-objects.json │ │ ├── FloorPlan408-openable.json │ │ ├── FloorPlan409-layout.npy │ │ ├── FloorPlan409-objects.json │ │ ├── FloorPlan409-openable.json │ │ ├── FloorPlan410-layout.npy │ │ ├── FloorPlan410-objects.json │ │ ├── FloorPlan410-openable.json │ │ ├── FloorPlan411-layout.npy │ │ ├── FloorPlan411-objects.json │ │ ├── FloorPlan411-openable.json │ │ ├── FloorPlan412-layout.npy │ │ ├── FloorPlan412-objects.json │ │ ├── FloorPlan412-openable.json │ │ ├── FloorPlan413-layout.npy │ │ ├── FloorPlan413-objects.json │ │ ├── FloorPlan413-openable.json │ │ ├── FloorPlan414-layout.npy │ │ ├── FloorPlan414-objects.json │ │ ├── FloorPlan414-openable.json │ │ ├── FloorPlan415-layout.npy │ │ ├── FloorPlan415-objects.json │ │ ├── FloorPlan415-openable.json │ │ ├── FloorPlan416-layout.npy │ │ ├── FloorPlan416-objects.json │ │ ├── FloorPlan416-openable.json │ │ ├── FloorPlan417-layout.npy │ │ ├── FloorPlan417-objects.json │ │ ├── FloorPlan417-openable.json │ │ ├── FloorPlan418-layout.npy │ │ ├── FloorPlan418-objects.json │ │ ├── FloorPlan418-openable.json │ │ ├── FloorPlan419-layout.npy │ │ ├── FloorPlan419-objects.json │ │ ├── FloorPlan419-openable.json │ │ ├── FloorPlan420-layout.npy │ │ ├── FloorPlan420-objects.json │ │ ├── FloorPlan420-openable.json │ │ ├── FloorPlan421-layout.npy │ │ ├── FloorPlan421-objects.json │ │ ├── FloorPlan421-openable.json │ │ ├── FloorPlan422-layout.npy │ │ ├── FloorPlan422-objects.json │ │ ├── FloorPlan422-openable.json │ │ ├── FloorPlan423-layout.npy │ │ ├── FloorPlan423-objects.json │ │ ├── FloorPlan423-openable.json │ │ ├── FloorPlan424-layout.npy │ │ ├── FloorPlan424-objects.json │ │ ├── FloorPlan424-openable.json │ │ ├── FloorPlan425-layout.npy │ │ ├── FloorPlan425-objects.json │ │ ├── FloorPlan425-openable.json │ │ ├── FloorPlan426-layout.npy │ │ ├── FloorPlan426-objects.json │ │ ├── FloorPlan426-openable.json │ │ ├── FloorPlan427-layout.npy │ │ ├── FloorPlan427-objects.json │ │ ├── FloorPlan427-openable.json │ │ ├── FloorPlan428-layout.npy │ │ ├── FloorPlan428-objects.json │ │ ├── FloorPlan428-openable.json │ │ ├── FloorPlan429-layout.npy │ │ ├── FloorPlan429-objects.json │ │ ├── FloorPlan429-openable.json │ │ ├── FloorPlan430-layout.npy │ │ ├── FloorPlan430-objects.json │ │ ├── FloorPlan430-openable.json │ │ ├── FloorPlan5-layout.npy │ │ ├── FloorPlan5-objects.json │ │ ├── FloorPlan5-openable.json │ │ ├── FloorPlan6-layout.npy │ │ ├── FloorPlan6-objects.json │ │ ├── FloorPlan6-openable.json │ │ ├── FloorPlan7-layout.npy │ │ ├── FloorPlan7-objects.json │ │ ├── FloorPlan7-openable.json │ │ ├── FloorPlan8-layout.npy │ │ ├── FloorPlan8-objects.json │ │ ├── FloorPlan8-openable.json │ │ ├── FloorPlan9-layout.npy │ │ ├── FloorPlan9-objects.json │ │ ├── FloorPlan9-openable.json │ │ └── precompute_layout_locations.py │ ├── planner │ │ ├── __init__.py │ │ ├── domains │ │ │ └── PutTaskExtended_domain.pddl │ │ ├── ff_planner_handler.py │ │ └── pddl.pdf │ ├── scripts │ │ ├── augment_trajectories.py │ │ ├── generate_trajectories.py │ │ └── replay_checks.py │ └── utils │ │ ├── __init__.py │ │ ├── bb_util.py │ │ ├── dataset_management_util.py │ │ ├── game_util.py │ │ ├── image_util.py │ │ ├── py_util.py │ │ ├── replay_json.py │ │ └── video_util.py ├── models │ ├── __init__.py │ ├── alfred.py │ ├── config.py │ ├── embodied_bert.py │ ├── pretraining.py │ ├── resnet.py │ ├── transformer.py │ ├── vlnbert_OSCAR.py │ ├── vlnbert_PREVALENT.py │ ├── vlnbert_init.py │ └── vnn.py ├── predictor │ ├── __init__.py │ └── alfred.py ├── readers │ ├── alfred.py │ ├── lightning.py │ └── loader.py ├── tests │ ├── __init__.py │ ├── fixtures │ │ ├── alfred_oscar.jsonnet │ │ ├── alfred_oscar_split.jsonnet │ │ ├── alfred_oscar_split_objemb.jsonnet │ │ ├── alfred_pretraining.jsonnet │ │ ├── bugged.json │ │ ├── embert_actioncond.jsonnet │ │ ├── embert_mlm.jsonnet │ │ ├── overfit.json │ │ └── tiny_splits.json │ ├── longest.json │ └── test_reader.py ├── training │ ├── __init__.py │ └── lightning.py └── utils │ ├── __init__.py │ ├── archival.py │ ├── bb_util.py │ ├── dataset_management_util.py │ ├── game_util.py │ ├── geometry_utils.py │ ├── image_util.py │ ├── metrics.py │ ├── py_util.py │ ├── replay_json.py │ └── video_util.py ├── ltrain.py ├── print_results.py ├── requirements.txt ├── scripts ├── ablations.sh ├── check_thor.py ├── compute_manip_ambiguity.py ├── download_alfred_data.sh ├── extract_object_types.py ├── extract_vision_dataset.py ├── fix_recurrent_vlnbert_weights.py ├── generate_landmarks.py ├── generate_maskrcnn.py ├── generate_maskrcnn_horizon0.py ├── generate_moca_maskrcnn.sh ├── generate_vision_dataset.sh ├── merge_leaderboard.py ├── process_dataset.py ├── run_eval.sh ├── run_leaderboard.sh ├── start_experiments.sh └── startx.py ├── training_configs └── embert │ ├── embert.jsonnet │ ├── embert_horizon0.jsonnet │ ├── embert_oscar.jsonnet │ ├── embert_oscar_split.jsonnet │ ├── embert_oscar_split_multigpu.jsonnet │ ├── embert_oscar_split_next.jsonnet │ ├── embert_pretraining.jsonnet │ ├── embert_wide.jsonnet │ ├── embert_wide_ac.jsonnet │ ├── embert_wide_no_objnav.jsonnet │ ├── embert_widest.jsonnet │ └── embert_widest_no_objnav.jsonnet └── vision ├── __init__.py ├── coco_eval.py ├── coco_utils.py ├── engine.py ├── finetune.py ├── readers.py ├── transforms.py └── utils.py /.allennlp_plugins: -------------------------------------------------------------------------------- 1 | ltrain -------------------------------------------------------------------------------- /.github/pull_request_template.md: -------------------------------------------------------------------------------- 1 | By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice. 2 | -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- 1 | ## Code of Conduct 2 | This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct). 3 | For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact 4 | opensource-codeofconduct@amazon.com with any additional questions or comments. 5 | -------------------------------------------------------------------------------- /Config: -------------------------------------------------------------------------------- 1 | package.EmbodiedAI-Alfred = { 2 | interfaces = (1.0); 3 | 4 | # Use NoOpBuild. See https://w.amazon.com/index.php/BrazilBuildSystem/NoOpBuild 5 | build-system = no-op; 6 | build-tools = { 7 | 1.0 = { 8 | NoOpBuild = 1.0; 9 | }; 10 | }; 11 | 12 | # Use runtime-dependencies for when you want to bring in additional 13 | # packages when deploying. 14 | # Use dependencies instead if you intend for these dependencies to 15 | # be exported to other packages that build against you. 16 | dependencies = { 17 | 1.0 = { 18 | }; 19 | }; 20 | 21 | runtime-dependencies = { 22 | 1.0 = { 23 | }; 24 | }; 25 | 26 | }; 27 | -------------------------------------------------------------------------------- /grolp/__init__.py: -------------------------------------------------------------------------------- 1 | from grolp.models.alfred import EmbodiedBertForAlfred 2 | from grolp.models.pretraining import EmbodiedBertForPretraining 3 | from grolp.predictor.alfred import AlfredPredictor 4 | from grolp.readers.alfred import AlfredSupervisedReader, AlfredSplittedSupervisedReader, \ 5 | AlfredSplittedWithNextSupervisedReader 6 | from grolp.readers.loader import AlfredDataLoader 7 | -------------------------------------------------------------------------------- /grolp/data/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/data/__init__.py -------------------------------------------------------------------------------- /grolp/envs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/envs/__init__.py -------------------------------------------------------------------------------- /grolp/gen/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/__init__.py -------------------------------------------------------------------------------- /grolp/gen/agents/deterministic_planner_agent.py: -------------------------------------------------------------------------------- 1 | from grolp.gen.agents.semantic_map_planner_agent import SemanticMapPlannerAgent 2 | 3 | 4 | class DeterministicPlannerAgent(SemanticMapPlannerAgent): 5 | def __init__(self, thread_id=0, game_state=None): 6 | super(DeterministicPlannerAgent, self).__init__(thread_id, game_state) 7 | self.action_sequence = None 8 | self.question = None 9 | 10 | def reset(self, seed=None, info=None, scene=None, objs=None): 11 | info = super(DeterministicPlannerAgent, self).reset(seed, info, scene=scene, objs=objs) 12 | self.action_sequence = ['Plan', 'End'] 13 | return info 14 | 15 | def step(self, action, executing_plan=False): 16 | if not executing_plan: 17 | self.action_sequence = self.action_sequence[1:] 18 | super(DeterministicPlannerAgent, self).step(action) 19 | 20 | def get_action(self, action_ind=None): 21 | assert(action_ind is None) 22 | return {'action': self.action_sequence[0]} 23 | 24 | def get_reward(self): 25 | return 0, self.terminal 26 | 27 | -------------------------------------------------------------------------------- /grolp/gen/ff_planner/README.md: -------------------------------------------------------------------------------- 1 | # Metric FF Planner 2 | Credit: https://fai.cs.uni-saarland.de/hoffmann/metric-ff.html. 3 | Specifically this uses the Metric-FF Version 2.1 (https://fai.cs.uni-saarland.de/hoffmann/ff/Metric-FF-v2.1.tgz). 4 | 5 | Note that the code here is not exactly the same as the one you can download from that website. 6 | Their code had issues that threw segfaults which I was able to fix for this project. 7 | It is possible that my changes caused some other issues that I am unaware of. 8 | 9 | To compile: 10 | ```bash 11 | $ cd 12 | $ make 13 | ``` 14 | -------------------------------------------------------------------------------- /grolp/gen/ff_planner/run_sample.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | ./ff -o samples/PutTask_domain.pddl -s 5 -f samples/problem_0_0.pddl 3 | -------------------------------------------------------------------------------- /grolp/gen/game_states/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/game_states/__init__.py -------------------------------------------------------------------------------- /grolp/gen/graph/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/graph/__init__.py -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan1-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan1-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan1-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Shelf", 3 | "Statue", 4 | "Book", 5 | "CounterTop", 6 | "SoapBottle", 7 | "Sink", 8 | "Plate", 9 | "HousePlant", 10 | "Fork", 11 | "CoffeeMachine", 12 | "Knife", 13 | "Spatula", 14 | "CreditCard", 15 | "PepperShaker", 16 | "Glassbottle", 17 | "Potato", 18 | "Bowl", 19 | "Lettuce", 20 | "WineBottle", 21 | "Toaster", 22 | "Egg", 23 | "Pan", 24 | "Chair", 25 | "SinkBasin", 26 | "Apple", 27 | "Fridge", 28 | "Window", 29 | "Mug", 30 | "Drawer", 31 | "Bread", 32 | "Cup", 33 | "Pot", 34 | "StoveKnob", 35 | "Microwave", 36 | "SaltShaker", 37 | "GarbageCan", 38 | "DishSponge", 39 | "LightSwitch", 40 | "StoveBurner", 41 | "Kettle", 42 | "Faucet", 43 | "Vase", 44 | "Tomato", 45 | "PaperTowelRoll", 46 | "ButterKnife", 47 | "Cabinet", 48 | "Spoon" 49 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan10-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan10-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan10-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Shelf", 3 | "Statue", 4 | "CounterTop", 5 | "SoapBottle", 6 | "Plate", 7 | "Sink", 8 | "Fork", 9 | "HousePlant", 10 | "CoffeeMachine", 11 | "Knife", 12 | "Spatula", 13 | "CreditCard", 14 | "PepperShaker", 15 | "Glassbottle", 16 | "Potato", 17 | "Lettuce", 18 | "Bowl", 19 | "Toaster", 20 | "Egg", 21 | "Pan", 22 | "Apple", 23 | "SinkBasin", 24 | "Chair", 25 | "Fridge", 26 | "Window", 27 | "Mug", 28 | "Drawer", 29 | "Bread", 30 | "Cup", 31 | "Pot", 32 | "StoveKnob", 33 | "Microwave", 34 | "SaltShaker", 35 | "GarbageCan", 36 | "DishSponge", 37 | "LightSwitch", 38 | "StoveBurner", 39 | "Faucet", 40 | "Vase", 41 | "PaperTowelRoll", 42 | "Tomato", 43 | "ButterKnife", 44 | "Cabinet", 45 | "CellPhone", 46 | "Spoon" 47 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan11-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan11-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan11-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "CounterTop", 3 | "SoapBottle", 4 | "Sink", 5 | "Plate", 6 | "Fork", 7 | "CoffeeMachine", 8 | "Knife", 9 | "Spatula", 10 | "PepperShaker", 11 | "Potato", 12 | "Bowl", 13 | "Lettuce", 14 | "Toaster", 15 | "Egg", 16 | "Pan", 17 | "Apple", 18 | "SinkBasin", 19 | "Chair", 20 | "Fridge", 21 | "Window", 22 | "Mug", 23 | "Drawer", 24 | "Bread", 25 | "Cup", 26 | "Pot", 27 | "StoveKnob", 28 | "Microwave", 29 | "SaltShaker", 30 | "GarbageCan", 31 | "DishSponge", 32 | "LightSwitch", 33 | "DiningTable", 34 | "StoveBurner", 35 | "Kettle", 36 | "Faucet", 37 | "ButterKnife", 38 | "Tomato", 39 | "PaperTowelRoll", 40 | "Cabinet", 41 | "Spoon" 42 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan12-layout.npy: 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38 | "Spoon" 39 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan13-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan13-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan13-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "CounterTop", 3 | "SoapBottle", 4 | "Plate", 5 | "Sink", 6 | "Fork", 7 | "CoffeeMachine", 8 | "Knife", 9 | "Spatula", 10 | "PepperShaker", 11 | "Potato", 12 | "Bowl", 13 | "Lettuce", 14 | "WineBottle", 15 | "Toaster", 16 | "Egg", 17 | "Pan", 18 | "Apple", 19 | "SinkBasin", 20 | "Fridge", 21 | "Window", 22 | "Mug", 23 | "Drawer", 24 | "Bread", 25 | "Cup", 26 | "Pencil", 27 | "Pot", 28 | "StoveKnob", 29 | "Microwave", 30 | "SaltShaker", 31 | "GarbageCan", 32 | "DishSponge", 33 | "LightSwitch", 34 | "StoveBurner", 35 | "Faucet", 36 | "Curtains", 37 | "ButterKnife", 38 | "Tomato", 39 | "PaperTowelRoll", 40 | "Cabinet", 41 | "Spoon" 42 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan14-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan14-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan14-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Ladle", 3 | "CounterTop", 4 | "SoapBottle", 5 | "Sink", 6 | "Plate", 7 | "Fork", 8 | "CoffeeMachine", 9 | "Knife", 10 | "Spatula", 11 | "PepperShaker", 12 | "Potato", 13 | "Lettuce", 14 | "Bowl", 15 | "Toaster", 16 | "Egg", 17 | "Pan", 18 | "Chair", 19 | "Apple", 20 | "SinkBasin", 21 | "Fridge", 22 | "Window", 23 | "Mug", 24 | "Bread", 25 | "Cup", 26 | "Pot", 27 | "StoveKnob", 28 | "Microwave", 29 | "SaltShaker", 30 | "GarbageCan", 31 | "DishSponge", 32 | "LightSwitch", 33 | "StoveBurner", 34 | "Faucet", 35 | "ButterKnife", 36 | "Tomato", 37 | "Cabinet", 38 | "Spoon" 39 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan14-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Cabinet|+01.66|+02.05|+00.67": [ 3 | 1.0, 4 | 0.25, 5 | 90, 6 | 0 7 | ], 8 | "Cabinet|+01.66|+02.05|-00.61": [ 9 | 0.75, 10 | -0.75, 11 | 90, 12 | 0 13 | ], 14 | "Cabinet|+01.66|+02.06|+00.19": [ 15 | 1.0, 16 | 0.0, 17 | 90, 18 | -30 19 | ], 20 | "Cabinet|+01.66|+02.06|-00.59": [ 21 | 0.5, 22 | 0.0, 23 | 90, 24 | -30 25 | ], 26 | "CounterTop|+00.99|+00.95|+01.02": [ 27 | 1.0, 28 | 0.25, 29 | 0, 30 | 30 31 | ], 32 | "CounterTop|+00.99|+00.95|-01.52": [ 33 | 0.5, 34 | -0.75, 35 | 180, 36 | 30 37 | ], 38 | "Fridge|-00.53|+00.00|-01.55": [ 39 | -0.5, 40 | -0.5, 41 | 180, 42 | 0 43 | ], 44 | "Microwave|+01.75|+00.90|-00.84": [ 45 | 1.0, 46 | -0.75, 47 | 90, 48 | 30 49 | ], 50 | "Sink|+01.10|+00.91|-01.60|SinkBasin": [ 51 | 1.0, 52 | -0.75, 53 | 180, 54 | 30 55 | ] 56 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan15-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan15-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan15-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "CounterTop", 3 | "SoapBottle", 4 | "Plate", 5 | "Sink", 6 | "Fork", 7 | "CoffeeMachine", 8 | "Knife", 9 | "Spatula", 10 | "PepperShaker", 11 | "Potato", 12 | "Bowl", 13 | "Lettuce", 14 | "WineBottle", 15 | "Toaster", 16 | "Egg", 17 | "Pan", 18 | "Apple", 19 | "SinkBasin", 20 | "Chair", 21 | "Blinds", 22 | "Fridge", 23 | "Window", 24 | "Mug", 25 | "Drawer", 26 | "Bread", 27 | "Cup", 28 | "Pot", 29 | "StoveKnob", 30 | "Microwave", 31 | "SaltShaker", 32 | "GarbageCan", 33 | "DishSponge", 34 | "LightSwitch", 35 | "DiningTable", 36 | "StoveBurner", 37 | "Kettle", 38 | "Faucet", 39 | "ButterKnife", 40 | "Tomato", 41 | "Cabinet", 42 | "Spoon" 43 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan16-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan16-layout.npy 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"LightSwitch", 36 | "DiningTable", 37 | "StoveBurner", 38 | "Kettle", 39 | "Faucet", 40 | "ButterKnife", 41 | "Tomato", 42 | "Cabinet", 43 | "CellPhone", 44 | "Spoon" 45 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan18-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan18-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan18-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "CounterTop", 3 | "SoapBottle", 4 | "Sink", 5 | "Plate", 6 | "HousePlant", 7 | "Fork", 8 | "CoffeeMachine", 9 | "Knife", 10 | "Spatula", 11 | "PepperShaker", 12 | "Potato", 13 | "Bowl", 14 | "Lettuce", 15 | "Toaster", 16 | "Egg", 17 | "Pan", 18 | "Apple", 19 | 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/grolp/gen/layouts/FloorPlan2-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Ladle", 3 | "CounterTop", 4 | "SoapBottle", 5 | "Plate", 6 | "Sink", 7 | "Fork", 8 | "CoffeeMachine", 9 | "Knife", 10 | "Spatula", 11 | "PepperShaker", 12 | "Potato", 13 | "Lettuce", 14 | "Bowl", 15 | "Toaster", 16 | "Egg", 17 | "Pan", 18 | "Chair", 19 | "Apple", 20 | "SinkBasin", 21 | "Fridge", 22 | "Window", 23 | "Mug", 24 | "Drawer", 25 | "Cup", 26 | "Bread", 27 | "Pot", 28 | "StoveKnob", 29 | "Microwave", 30 | "SaltShaker", 31 | "GarbageCan", 32 | "DishSponge", 33 | "LightSwitch", 34 | "StoveBurner", 35 | "Kettle", 36 | "Faucet", 37 | "ButterKnife", 38 | "Tomato", 39 | "Cabinet", 40 | "CellPhone", 41 | "Spoon" 42 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan20-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan20-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan20-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Shelf", 3 | "Ladle", 4 | "CounterTop", 5 | "SoapBottle", 6 | "Sink", 7 | "Plate", 8 | "Fork", 9 | "CoffeeMachine", 10 | "Knife", 11 | "Spatula", 12 | "PepperShaker", 13 | "Potato", 14 | "Bowl", 15 | "Lettuce", 16 | "WineBottle", 17 | "Toaster", 18 | "Egg", 19 | "Pan", 20 | "Apple", 21 | "SinkBasin", 22 | "Chair", 23 | "Fridge", 24 | "Window", 25 | "Mug", 26 | "Drawer", 27 | "Bread", 28 | "Cup", 29 | "Pot", 30 | "StoveKnob", 31 | "Microwave", 32 | "SaltShaker", 33 | "GarbageCan", 34 | "DishSponge", 35 | "LightSwitch", 36 | "DiningTable", 37 | "StoveBurner", 38 | "Faucet", 39 | "ButterKnife", 40 | "Tomato", 41 | "Cabinet", 42 | "Spoon" 43 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan201-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan201-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan201-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "SideTable", 3 | "Statue", 4 | "Newspaper", 5 | "Book", 6 | "KeyChain", 7 | "Plate", 8 | "HousePlant", 9 | "Pillow", 10 | "FloorLamp", 11 | "CreditCard", 12 | "Bowl", 13 | "Painting", 14 | "Pen", 15 | "Chair", 16 | "Television", 17 | "Laptop", 18 | "Watch", 19 | "Box", 20 | "Window", 21 | "Drawer", 22 | "Pencil", 23 | "Lamp", 24 | "CoffeeTable", 25 | "TVStand", 26 | "GarbageCan", 27 | "LightSwitch", 28 | "DiningTable", 29 | "Sofa", 30 | "ArmChair", 31 | "RemoteControl", 32 | "Curtains", 33 | "TissueBox", 34 | "Vase" 35 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan201-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "ArmChair|-00.78|+00.01|+06.08": [ 3 | -1.0, 4 | 5.0, 5 | 0, 6 | 30 7 | ], 8 | "ArmChair|-04.41|+00.01|+06.01": [ 9 | -4.25, 10 | 5.0, 11 | 0, 12 | 30 13 | ], 14 | "CoffeeTable|-02.32|+00.00|+04.89": [ 15 | -3.5, 16 | 4.5, 17 | 90, 18 | 30 19 | ], 20 | "DiningTable|-02.27|-00.02|+01.42": [ 21 | -2.5, 22 | 2.5, 23 | 180, 24 | 30 25 | ], 26 | "DiningTable|-03.20|+00.59|+00.21": [ 27 | -4.0, 28 | 0.5, 29 | 90, 30 | 30 31 | ], 32 | "Drawer|-00.30|+00.62|+03.37": [ 33 | -1.0, 34 | 4.25, 35 | 180, 36 | 30 37 | ], 38 | "Drawer|-02.11|+00.66|-00.07": [ 39 | -3.0, 40 | 0.5, 41 | 90, 42 | 30 43 | ], 44 | "SideTable|-00.24|+00.00|+03.37": [ 45 | -0.75, 46 | 2.25, 47 | 0, 48 | 30 49 | ], 50 | "SideTable|-02.11|+00.01|-00.14": [ 51 | -2.0, 52 | 0.5, 53 | 180, 54 | 30 55 | ], 56 | "Sofa|-02.40|-00.07|+03.42": [ 57 | -2.25, 58 | 4.25, 59 | 180, 60 | 30 61 | ], 62 | "TVStand|-02.39|+00.00|+06.30": [ 63 | -2.5, 64 | 5.5, 65 | 0, 66 | 30 67 | ] 68 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan202-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan202-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan202-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "SideTable", 3 | "Statue", 4 | "Book", 5 | "KeyChain", 6 | "HousePlant", 7 | "Pillow", 8 | "FloorLamp", 9 | "CreditCard", 10 | "Painting", 11 | "Television", 12 | "Laptop", 13 | "Watch", 14 | "Box", 15 | "Window", 16 | "CoffeeTable", 17 | "TVStand", 18 | "GarbageCan", 19 | "LightSwitch", 20 | "Sofa", 21 | "ArmChair", 22 | "RemoteControl", 23 | "Curtains" 24 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan202-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "ArmChair|-03.08|+00.47|+00.37": [ 3 | -3.0, 4 | 1.5, 5 | 180, 6 | 30 7 | ], 8 | "CoffeeTable|-01.74|+00.00|+02.36": [ 9 | -1.5, 10 | 1.25, 11 | 0, 12 | 30 13 | ], 14 | "GarbageCan|-00.38|+00.00|+04.10": [ 15 | 0.5, 16 | 3.75, 17 | 270, 18 | 30 19 | ], 20 | "SideTable|+00.63|+00.00|+00.34": [ 21 | 0.75, 22 | 1.5, 23 | 180, 24 | 30 25 | ], 26 | "Sofa|-01.16|+00.00|+00.45": [ 27 | -1.25, 28 | 1.75, 29 | 180, 30 | 30 31 | ], 32 | "TVStand|-01.57|+00.00|+03.87": [ 33 | -1.5, 34 | 3.0, 35 | 0, 36 | 30 37 | ] 38 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan203-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan203-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan203-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "SideTable", 3 | "Newspaper", 4 | "Book", 5 | "KeyChain", 6 | "Plate", 7 | "HousePlant", 8 | "Pillow", 9 | "FloorLamp", 10 | "CreditCard", 11 | "Bowl", 12 | "Painting", 13 | "Chair", 14 | "Television", 15 | "Laptop", 16 | "Watch", 17 | "Box", 18 | "Window", 19 | "Drawer", 20 | "Ottoman", 21 | "Pencil", 22 | "CoffeeTable", 23 | "GarbageCan", 24 | "WateringCan", 25 | "LightSwitch", 26 | "DiningTable", 27 | "Sofa", 28 | "ArmChair", 29 | "RemoteControl", 30 | "TissueBox", 31 | "Vase", 32 | "Boots", 33 | "CellPhone" 34 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan203-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "ArmChair|+00.42|00.00|+05.13": [ 3 | 0.5, 4 | 6.25, 5 | 180, 6 | 30 7 | ], 8 | "CoffeeTable|+00.41|+00.01|+02.61": [ 9 | -0.5, 10 | 2.5, 11 | 90, 12 | 30 13 | ], 14 | "DiningTable|-04.30|+00.01|-00.38": [ 15 | -4.25, 16 | -1.25, 17 | 0, 18 | 30 19 | ], 20 | "Drawer|+00.21|+00.07|+02.61": [ 21 | -0.75, 22 | 1.0, 23 | 0, 24 | 30 25 | ], 26 | "Drawer|+00.21|+00.23|+02.61": [ 27 | -0.5, 28 | 1.25, 29 | 0, 30 | 30 31 | ], 32 | "Drawer|+00.21|+00.39|+02.61": [ 33 | -0.5, 34 | 1.5, 35 | 0, 36 | 30 37 | ], 38 | "Drawer|+00.60|+00.23|+02.61": [ 39 | 1.0, 40 | 1.75, 41 | 0, 42 | 30 43 | ], 44 | "Drawer|+00.60|+00.39|+02.61": [ 45 | 1.0, 46 | 3.75, 47 | 180, 48 | 30 49 | ], 50 | "Drawer|-01.03|+00.78|+00.24": [ 51 | -0.5, 52 | 1.0, 53 | 180, 54 | 30 55 | ], 56 | "Ottoman|+00.49|+00.00|+04.31": [ 57 | 1.0, 58 | 3.0, 59 | 0, 60 | 30 61 | ], 62 | "SideTable|-01.03|+00.01|+00.16": [ 63 | -1.25, 64 | 0.75, 65 | 180, 66 | 30 67 | ], 68 | "Sofa|-01.53|+00.02|+02.56": [ 69 | -0.25, 70 | 2.5, 71 | 270, 72 | 30 73 | ] 74 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan204-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan204-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan204-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Shelf", 3 | "Statue", 4 | "KeyChain", 5 | "HousePlant", 6 | "Pillow", 7 | "FloorLamp", 8 | 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-------------------------------------------------------------------------------- 1 | [ 2 | "SideTable", 3 | "Statue", 4 | "Newspaper", 5 | "Book", 6 | "KeyChain", 7 | "HousePlant", 8 | "Pillow", 9 | "FloorLamp", 10 | "CreditCard", 11 | "Painting", 12 | "Pen", 13 | "Television", 14 | "Laptop", 15 | "Watch", 16 | "Box", 17 | "Window", 18 | "Drawer", 19 | "CoffeeTable", 20 | "GarbageCan", 21 | "WateringCan", 22 | "LightSwitch", 23 | "Mirror", 24 | "Sofa", 25 | "ArmChair", 26 | "RemoteControl", 27 | "Vase", 28 | "Dresser" 29 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan209-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "ArmChair|-04.39|+00.00|-03.55": [ 3 | -3.25, 4 | -3.75, 5 | 270, 6 | 30 7 | ], 8 | "CoffeeTable|-02.47|+00.00|-02.49": [ 9 | -1.25, 10 | -2.5, 11 | 270, 12 | 30 13 | ], 14 | "Drawer|-02.98|+00.17|-05.01": [ 15 | -1.75, 16 | -4.5, 17 | 270, 18 | 30 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| "DeskLamp", 8 | "Pillow", 9 | "CD", 10 | "CreditCard", 11 | "Pen", 12 | "Bed", 13 | "Chair", 14 | "Blinds", 15 | "Laptop", 16 | "Window", 17 | "Drawer", 18 | "Pencil", 19 | "TeddyBear", 20 | "LaundryHamper", 21 | "AlarmClock", 22 | "GarbageCan", 23 | "LightSwitch", 24 | "Mirror", 25 | "Desk", 26 | "CellPhone" 27 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan306-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bed|+02.32|+00.00|-01.06": [ 3 | 0.5, 4 | -1.0, 5 | 90, 6 | 30 7 | ], 8 | "Desk|-00.53|00.00|-01.53": [ 9 | -0.75, 10 | -0.75, 11 | 180, 12 | 30 13 | ], 14 | "Drawer|+02.44|+00.13|+01.16": [ 15 | 3.0, 16 | 0.0, 17 | 0, 18 | 30 19 | ], 20 | "Drawer|+02.44|+00.36|+01.16": [ 21 | 3.0, 22 | 0.25, 23 | 0, 24 | 30 25 | ], 26 | "Drawer|-00.94|+00.21|-01.19": [ 27 | -0.25, 28 | 0.0, 29 | 180, 30 | 30 31 | ], 32 | "Drawer|-00.94|+00.49|-01.19": [ 33 | -0.5, 34 | -0.25, 35 | 180, 36 | 30 37 | ], 38 | "Drawer|-00.94|+00.73|-01.19": [ 39 | -0.75, 40 | -0.25, 41 | 180, 42 | 30 43 | ], 44 | "Shelf|+00.76|+00.93|-01.91": [ 45 | 0.25, 46 | -0.75, 47 | 180, 48 | 30 49 | ], 50 | "SideTable|+02.44|+00.01|+01.23": [ 51 | 1.25, 52 | 0.75, 53 | 90, 54 | 30 55 | ] 56 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan307-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan307-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan307-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Shelf", 3 | "SideTable", 4 | "Book", 5 | "LaundryHamperLid", 6 | "KeyChain", 7 | "TennisRacket", 8 | "DeskLamp", 9 | "Pillow", 10 | "CD", 11 | "CreditCard", 12 | "Bowl", 13 | "Painting", 14 | "Bed", 15 | "Pen", 16 | "Cloth", 17 | "Chair", 18 | "Blinds", 19 | "Television", 20 | "Laptop", 21 | "Window", 22 | "Drawer", 23 | "Pencil", 24 | "LaundryHamper", 25 | "AlarmClock", 26 | "GarbageCan", 27 | "LightSwitch", 28 | "Mirror", 29 | "RemoteControl", 30 | "Poster", 31 | "Desk", 32 | "CellPhone" 33 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan307-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bed|+00.27|+00.00|+01.33": [ 3 | -0.25, 4 | 0.0, 5 | 0, 6 | 30 7 | ], 8 | "Desk|-00.87|-00.01|-02.44": [ 9 | -1.25, 10 | -1.75, 11 | 180, 12 | 30 13 | ], 14 | "Drawer|-01.41|+00.20|-02.32": [ 15 | -0.25, 16 | -1.75, 17 | 270, 18 | 30 19 | ], 20 | "Drawer|-01.41|+00.48|-02.32": [ 21 | -0.25, 22 | -1.75, 23 | 270, 24 | 30 25 | ], 26 | "Drawer|-01.41|+00.73|-02.32": [ 27 | -0.75, 28 | -1.75, 29 | 270, 30 | 30 31 | ], 32 | "Shelf|+01.49|+00.82|-01.48": [ 33 | 1.0, 34 | -2.0, 35 | 90, 36 | 30 37 | ], 38 | "Shelf|-01.02|+01.35|-02.54": [ 39 | -1.0, 40 | -1.75, 41 | 180, 42 | 0 43 | ], 44 | "SideTable|+00.25|00.00|-02.38": [ 45 | 0.25, 46 | -1.75, 47 | 180, 48 | 30 49 | ] 50 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan308-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan308-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan308-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Shelf", 3 | "Book", 4 | "LaundryHamperLid", 5 | "KeyChain", 6 | "DeskLamp", 7 | "Pillow", 8 | "CD", 9 | "CreditCard", 10 | "Bowl", 11 | "Bed", 12 | "Pen", 13 | 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20 | "LightSwitch", 21 | "Mirror", 22 | "Desk", 23 | "CellPhone" 24 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan312-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bed|-00.81|-00.01|-00.92": [ 3 | 0.75, 4 | -0.75, 5 | 270, 6 | 30 7 | ], 8 | "Desk|+02.24|00.00|-01.58": [ 9 | 0.5, 10 | -1.25, 11 | 90, 12 | 30 13 | ], 14 | "Drawer|+00.15|+00.20|-01.64": [ 15 | 1.25, 16 | -0.75, 17 | 270, 18 | 30 19 | ], 20 | "Drawer|+00.15|+00.45|-01.64": [ 21 | 0.5, 22 | -0.75, 23 | 180, 24 | 30 25 | ], 26 | "Shelf|+01.56|+00.06|-01.34": [ 27 | 1.0, 28 | -0.25, 29 | 180, 30 | 30 31 | ], 32 | "Shelf|+01.56|+00.30|-01.34": [ 33 | 2.0, 34 | -0.5, 35 | 180, 36 | 30 37 | ], 38 | "Shelf|+01.56|+00.54|-01.34": [ 39 | 2.0, 40 | -0.5, 41 | 180, 42 | 30 43 | ], 44 | "Shelf|+01.60|+00.77|-01.68": [ 45 | 1.5, 46 | -1.0, 47 | 180, 48 | 30 49 | ], 50 | "Shelf|+01.60|+01.13|-01.68": [ 51 | 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"KeyChain", 6 | "HousePlant", 7 | "TennisRacket", 8 | "Pillow", 9 | "CD", 10 | "CreditCard", 11 | "Painting", 12 | "Bed", 13 | "Pen", 14 | "Chair", 15 | "BaseballBat", 16 | "Blinds", 17 | "Laptop", 18 | "Box", 19 | "Window", 20 | "Mug", 21 | "Drawer", 22 | "Pencil", 23 | "Lamp", 24 | "TeddyBear", 25 | "AlarmClock", 26 | "GarbageCan", 27 | "LightSwitch", 28 | "Mirror", 29 | "TissueBox", 30 | "Desk", 31 | "CellPhone" 32 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan313-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bed|-01.78|00.00|-00.03": [ 3 | -0.5, 4 | 0.0, 5 | 270, 6 | 30 7 | ], 8 | "Desk|+00.63|-00.04|-01.63": [ 9 | 1.0, 10 | -0.5, 11 | 180, 12 | 30 13 | ], 14 | "Drawer|+00.39|+00.13|-01.46": [ 15 | 1.0, 16 | -0.25, 17 | 180, 18 | 30 19 | ], 20 | "Drawer|+00.39|+00.33|-01.46": [ 21 | 0.75, 22 | -0.5, 23 | 180, 24 | 30 25 | ], 26 | 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| ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan404-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bathtub|+00.22|+00.34|+00.64|BathtubBasin": [ 3 | -0.75, 4 | 0.5, 5 | 90, 6 | 30 7 | ], 8 | "Shelf|-01.17|+00.28|+02.16": [ 9 | -1.0, 10 | 1.25, 11 | 0, 12 | 30 13 | ], 14 | "Shelf|-01.17|+01.06|+02.16": [ 15 | -1.5, 16 | 1.5, 17 | 0, 18 | 30 19 | ], 20 | "Shelf|-01.17|+01.76|+02.16": [ 21 | -2.5, 22 | 1.75, 23 | 90, 24 | 0 25 | ], 26 | "Sink|-01.13|00.00|-00.59|SinkBasin": [ 27 | -1.5, 28 | 0.0, 29 | 180, 30 | 30 31 | ], 32 | "Toilet|-02.15|+00.00|-00.41": [ 33 | -1.5, 34 | 0.5, 35 | 180, 36 | 30 37 | ] 38 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan405-layout.npy: -------------------------------------------------------------------------------- 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27 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan408-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bathtub|+00.29|+00.29|-00.08|BathtubBasin": [ 3 | -0.75, 4 | -0.25, 5 | 90, 6 | 30 7 | ], 8 | "Cabinet|-01.50|+00.42|+00.43": [ 9 | -2.25, 10 | -0.5, 11 | 0, 12 | 30 13 | ], 14 | "Cabinet|-02.29|+00.39|+00.42": [ 15 | -1.5, 16 | -0.5, 17 | 0, 18 | 30 19 | ], 20 | "Cabinet|-02.31|+00.42|+00.43": [ 21 | -2.0, 22 | -0.5, 23 | 0, 24 | 30 25 | ], 26 | "Cabinet|-03.09|+00.39|+00.42": [ 27 | -2.25, 28 | -0.5, 29 | 0, 30 | 30 31 | ], 32 | "CounterTop|-02.30|+00.95|+00.69": [ 33 | -2.0, 34 | 0.0, 35 | 0, 36 | 30 37 | ], 38 | "GarbageCan|-02.92|+00.00|-01.56": [ 39 | -2.25, 40 | -0.5, 41 | 180, 42 | 30 43 | ], 44 | "Sink|-01.92|+00.93|+00.68|SinkBasin": [ 45 | -1.75, 46 | 0.0, 47 | 0, 48 | 30 49 | ], 50 | "Sink|-02.68|+00.93|+00.68|SinkBasin": [ 51 | -2.5, 52 | 0.0, 53 | 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"ScrubBrush", 7 | "HandTowelHolder", 8 | "Sink", 9 | "FloorLamp", 10 | "Towel", 11 | "HandTowel", 12 | "ToiletPaper", 13 | "Cloth", 14 | "SprayBottle", 15 | "SinkBasin", 16 | "Window", 17 | "Plunger", 18 | "GarbageCan", 19 | "LightSwitch", 20 | "Candle", 21 | "Mirror", 22 | "SoapBar", 23 | "TowelHolder", 24 | "ToiletPaperHanger", 25 | "ShowerDoor", 26 | "ShowerHead", 27 | "Cabinet" 28 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan412-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Cabinet|-03.17|+00.37|-00.59": [ 3 | -2.25, 4 | -0.25, 5 | 270, 6 | 30 7 | ], 8 | "Cabinet|-03.17|+00.37|-01.38": [ 9 | -2.25, 10 | -0.75, 11 | 270, 12 | 30 13 | ], 14 | "Cabinet|-03.17|+00.37|-01.40": [ 15 | -2.5, 16 | -1.5, 17 | 270, 18 | 30 19 | ], 20 | "CounterTop|-03.43|+00.88|-01.39": [ 21 | -2.75, 22 | -1.0, 23 | 270, 24 | 30 25 | ], 26 | "Sink|-03.39|+00.84|-00.93|SinkBasin": [ 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| "SinkBasin", 15 | "Window", 16 | "Drawer", 17 | "BathtubBasin", 18 | "Plunger", 19 | "GarbageCan", 20 | "LightSwitch", 21 | "SoapBar", 22 | "Mirror", 23 | "Candle", 24 | "TowelHolder", 25 | "ToiletPaperHanger", 26 | "Faucet", 27 | "ShowerDoor", 28 | "ShowerHead", 29 | "Dresser", 30 | "Cabinet" 31 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan413-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bathtub|-01.41|00.00|+00.56|BathtubBasin": [ 3 | -0.25, 4 | 1.0, 5 | 270, 6 | 30 7 | ], 8 | "Cabinet|-01.61|+00.31|+02.49": [ 9 | -0.75, 10 | 3.25, 11 | 270, 12 | 30 13 | ], 14 | "Cabinet|-01.61|+00.31|+03.11": [ 15 | -0.75, 16 | 3.5, 17 | 270, 18 | 30 19 | ], 20 | "Cabinet|-01.61|+00.31|+03.14": [ 21 | -0.75, 22 | 2.75, 23 | 270, 24 | 30 25 | ], 26 | "Cabinet|-01.61|+00.31|+03.75": [ 27 | -0.75, 28 | 3.0, 29 | 270, 30 | 30 31 | ], 32 | "CounterTop|-01.80|+00.75|+03.12": 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"ShowerCurtain", 10 | "HandTowel", 11 | "Towel", 12 | "ToiletPaper", 13 | "Bathtub", 14 | "Cloth", 15 | "SprayBottle", 16 | "SinkBasin", 17 | "Window", 18 | "Drawer", 19 | "BathtubBasin", 20 | "Plunger", 21 | "GarbageCan", 22 | "LightSwitch", 23 | "SoapBar", 24 | "Mirror", 25 | "Candle", 26 | "TowelHolder", 27 | "ToiletPaperHanger", 28 | "Faucet", 29 | "ShowerDoor", 30 | "ShowerHead" 31 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan424-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan424-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan424-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Toilet", 3 | "ShowerGlass", 4 | 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2.5, 29 | 90, 30 | 30 31 | ], 32 | "Sink|-00.30|+00.80|+02.42|SinkBasin": [ 33 | -1.0, 34 | 2.25, 35 | 90, 36 | 30 37 | ], 38 | "Sink|-00.30|+00.80|+03.26|SinkBasin": [ 39 | -1.0, 40 | 3.0, 41 | 90, 42 | 30 43 | ], 44 | "Toilet|-00.54|+00.00|+01.49": [ 45 | -0.75, 46 | 2.5, 47 | 180, 48 | 30 49 | ] 50 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan425-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan425-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan425-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Toilet", 3 | "ShowerGlass", 4 | "CounterTop", 5 | "SoapBottle", 6 | "ScrubBrush", 7 | "HandTowelHolder", 8 | "Sink", 9 | "HandTowel", 10 | "Towel", 11 | "ToiletPaper", 12 | "Cloth", 13 | "SprayBottle", 14 | "SinkBasin", 15 | "Window", 16 | "Plunger", 17 | "GarbageCan", 18 | "LightSwitch", 19 | "SoapBar", 20 | "Mirror", 21 | "Candle", 22 | "TowelHolder", 23 | "ToiletPaperHanger", 24 | "Faucet", 25 | "ShowerDoor", 26 | "TissueBox", 27 | "ShowerHead", 28 | "Cabinet" 29 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan425-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Cabinet|-01.19|+00.39|+02.13": [ 3 | -0.25, 4 | 3.0, 5 | 270, 6 | 30 7 | ], 8 | "Cabinet|-01.19|+00.39|+03.03": [ 9 | -0.25, 10 | 2.25, 11 | 270, 12 | 30 13 | ], 14 | "Cabinet|-01.19|+00.39|+03.06": [ 15 | -0.25, 16 | 2.75, 17 | 270, 18 | 30 19 | ], 20 | "Cabinet|-01.19|+00.39|+03.97": [ 21 | -0.25, 22 | 3.25, 23 | 270, 24 | 30 25 | ], 26 | "CounterTop|-01.35|+00.97|+02.95": [ 27 | -0.75, 28 | 3.0, 29 | 270, 30 | 30 31 | ], 32 | "Toilet|-00.04|+00.09|+01.73": [ 33 | -0.25, 34 | 2.75, 35 | 180, 36 | 30 37 | ] 38 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan426-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan426-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan426-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Toilet", 3 | "CounterTop", 4 | "ScrubBrush", 5 | "SoapBottle", 6 | "HandTowelHolder", 7 | "Sink", 8 | "ShowerCurtain", 9 | "HandTowel", 10 | "Towel", 11 | "ToiletPaper", 12 | "Bathtub", 13 | "Cloth", 14 | "SprayBottle", 15 | "SinkBasin", 16 | "Window", 17 | "Drawer", 18 | "BathtubBasin", 19 | "Plunger", 20 | "GarbageCan", 21 | "LightSwitch", 22 | "Candle", 23 | "Mirror", 24 | "SoapBar", 25 | "TowelHolder", 26 | "ToiletPaperHanger", 27 | "Faucet", 28 | "TissueBox" 29 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan426-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bathtub|-03.50|+00.15|+00.94|BathtubBasin": [ 3 | -2.75, 4 | 1.0, 5 | 270, 6 | 30 7 | ], 8 | "CounterTop|-01.85|+00.00|+00.34": [ 9 | -0.75, 10 | 1.0, 11 | 180, 12 | 30 13 | ], 14 | "Drawer|-00.29|+00.31|+00.31": [ 15 | -0.75, 16 | 1.5, 17 | 180, 18 | 30 19 | ], 20 | "Drawer|-00.29|+00.61|+00.31": [ 21 | -0.75, 22 | 1.25, 23 | 180, 24 | 30 25 | ], 26 | "Drawer|-00.81|+00.31|+00.31": [ 27 | -1.25, 28 | 1.5, 29 | 180, 30 | 30 31 | ], 32 | "Drawer|-00.81|+00.61|+00.31": [ 33 | -0.5, 34 | 1.25, 35 | 180, 36 | 30 37 | ], 38 | "Drawer|-01.32|+00.61|+00.31": [ 39 | -1.0, 40 | 1.25, 41 | 180, 42 | 30 43 | ], 44 | "Drawer|-01.84|+00.31|+00.31": [ 45 | -1.25, 46 | 1.5, 47 | 180, 48 | 30 49 | ], 50 | "Drawer|-01.84|+00.61|+00.31": [ 51 | -1.5, 52 | 1.25, 53 | 180, 54 | 30 55 | ], 56 | "GarbageCan|-00.85|+00.00|+03.15": [ 57 | -1.25, 58 | 2.25, 59 | 0, 60 | 30 61 | ], 62 | "Sink|-00.46|-00.01|+03.05|SinkBasin": [ 63 | -1.0, 64 | 2.75, 65 | 90, 66 | 30 67 | ], 68 | "Toilet|-01.84|+00.00|+02.50": [ 69 | -1.75, 70 | 1.5, 71 | 0, 72 | 30 73 | ] 74 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan427-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan427-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan427-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Toilet", 3 | "CounterTop", 4 | "SoapBottle", 5 | "ScrubBrush", 6 | "HandTowelHolder", 7 | "Sink", 8 | "ShowerCurtain", 9 | "HandTowel", 10 | "Towel", 11 | "ToiletPaper", 12 | "Bathtub", 13 | "Cloth", 14 | "SprayBottle", 15 | "SinkBasin", 16 | "Drawer", 17 | "BathtubBasin", 18 | "Plunger", 19 | "GarbageCan", 20 | "DishSponge", 21 | "LightSwitch", 22 | "Candle", 23 | "Mirror", 24 | "SoapBar", 25 | "TowelHolder", 26 | "ToiletPaperHanger", 27 | "Faucet", 28 | "TissueBox", 29 | "PaperTowelRoll" 30 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan427-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bathtub|-03.71|+00.34|+00.64|BathtubBasin": [ 3 | -2.75, 4 | 0.5, 5 | 270, 6 | 30 7 | ], 8 | "CounterTop|-02.80|+00.00|-00.59": [ 9 | -2.25, 10 | 0.25, 11 | 180, 12 | 30 13 | ], 14 | "Drawer|-01.44|+00.27|-00.62": [ 15 | -2.0, 16 | 0.5, 17 | 180, 18 | 30 19 | ], 20 | 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-------------------------------------------------------------------------------- 1 | { 2 | "Cabinet|-01.48|+00.35|+02.36": [ 3 | -0.5, 4 | 2.0, 5 | 270, 6 | 30 7 | ], 8 | "Cabinet|-01.48|+00.35|+03.17": [ 9 | -0.5, 10 | 3.0, 11 | 270, 12 | 30 13 | ], 14 | "Cabinet|-01.48|+00.37|+03.15": [ 15 | -0.5, 16 | 3.5, 17 | 270, 18 | 30 19 | ], 20 | "Cabinet|-01.48|+00.37|+03.96": [ 21 | -0.5, 22 | 3.25, 23 | 270, 24 | 30 25 | ], 26 | "CounterTop|-01.76|+00.67|+03.16": [ 27 | -1.0, 28 | 3.5, 29 | 270, 30 | 30 31 | ], 32 | "Sink|-01.75|+00.88|+02.72|SinkBasin": [ 33 | -1.25, 34 | 2.75, 35 | 270, 36 | 30 37 | ], 38 | "Sink|-01.75|+00.88|+03.55|SinkBasin": [ 39 | -1.25, 40 | 3.5, 41 | 270, 42 | 30 43 | ], 44 | "Toilet|-01.45|+00.00|+01.87": [ 45 | -1.0, 46 | 2.25, 47 | 270, 48 | 30 49 | ] 50 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan429-layout.npy: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | { 2 | "Bathtub|-02.12|-00.09|-03.12|BathtubBasin": [ 3 | -1.25, 4 | -1.0, 5 | 180, 6 | 30 7 | ], 8 | "Shelf|+00.81|+00.81|-00.61": [ 9 | 0.25, 10 | -1.0, 11 | 90, 12 | 30 13 | ], 14 | "Shelf|-01.57|+00.81|-00.14": [ 15 | -1.25, 16 | -0.75, 17 | 0, 18 | 30 19 | ], 20 | "Toilet|+00.00|00.00|-03.44": [ 21 | -0.5, 22 | -3.25, 23 | 180, 24 | 30 25 | ] 26 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan430-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan430-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan430-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Shelf", 3 | "ShowerGlass", 4 | "Toilet", 5 | "CounterTop", 6 | "SoapBottle", 7 | "ScrubBrush", 8 | "HandTowelHolder", 9 | "Footstool", 10 | "Sink", 11 | "HandTowel", 12 | "Towel", 13 | "ToiletPaper", 14 | "Bathtub", 15 | "Cloth", 16 | "SprayBottle", 17 | "SinkBasin", 18 | "Window", 19 | "Drawer", 20 | "BathtubBasin", 21 | "Plunger", 22 | "Cart", 23 | "GarbageCan", 24 | "DishSponge", 25 | "LightSwitch", 26 | "Candle", 27 | "Mirror", 28 | "SoapBar", 29 | "TowelHolder", 30 | "ToiletPaperHanger", 31 | "Faucet", 32 | "ShowerDoor", 33 | "TissueBox", 34 | "ShowerHead" 35 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan430-openable.json: -------------------------------------------------------------------------------- 1 | { 2 | "Bathtub|-01.96|+00.49|-01.23|BathtubBasin": [ 3 | -2.5, 4 | 0.0, 5 | 180, 6 | 30 7 | ], 8 | "Cart|-02.92|+00.01|+01.48": [ 9 | -2.25, 10 | 1.5, 11 | 270, 12 | 30 13 | ], 14 | "CounterTop|+00.20|+00.43|-02.01": [ 15 | 0.0, 16 | -1.25, 17 | 180, 18 | 30 19 | ], 20 | "Drawer|+00.30|+00.30|-01.82": [ 21 | -0.25, 22 | -0.75, 23 | 180, 24 | 30 25 | ], 26 | "Drawer|+00.30|+00.49|-01.82": [ 27 | 0.0, 28 | -1.0, 29 | 180, 30 | 30 31 | ], 32 | "Drawer|+00.30|+00.68|-01.82": [ 33 | 0.0, 34 | -1.0, 35 | 180, 36 | 30 37 | ], 38 | "Drawer|+00.30|+00.83|-01.82": [ 39 | 0.0, 40 | -1.0, 41 | 180, 42 | 30 43 | ], 44 | "GarbageCan|-02.93|+00.01|+02.09": [ 45 | -2.0, 46 | 1.5, 47 | 270, 48 | 30 49 | ], 50 | "Sink|-02.80|+00.33|+00.76|SinkBasin": [ 51 | -2.5, 52 | 0.0, 53 | 0, 54 | 30 55 | ], 56 | "Toilet|-00.06|+00.01|+01.84": [ 57 | -1.0, 58 | 1.75, 59 | 90, 60 | 30 61 | ] 62 | } -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan5-layout.npy: -------------------------------------------------------------------------------- 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| "Cabinet", 44 | "Spoon" 45 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan6-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan6-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan6-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "CounterTop", 3 | "SoapBottle", 4 | "Plate", 5 | "Sink", 6 | "Fork", 7 | "CoffeeMachine", 8 | "Knife", 9 | "Spatula", 10 | "PepperShaker", 11 | "Potato", 12 | "Bowl", 13 | "Lettuce", 14 | "Toaster", 15 | "Egg", 16 | "Pan", 17 | "Chair", 18 | "Apple", 19 | "SinkBasin", 20 | "Fridge", 21 | "Window", 22 | "Mug", 23 | "Drawer", 24 | "Bread", 25 | "Cup", 26 | "Pot", 27 | "StoveKnob", 28 | "Microwave", 29 | "SaltShaker", 30 | "GarbageCan", 31 | "DishSponge", 32 | "LightSwitch", 33 | "StoveBurner", 34 | "Kettle", 35 | "Faucet", 36 | "ButterKnife", 37 | "PaperTowelRoll", 38 | "Tomato", 39 | "Cabinet", 40 | "Spoon" 41 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan7-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan7-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan7-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Shelf", 3 | "Statue", 4 | "Book", 5 | "CounterTop", 6 | "SoapBottle", 7 | "Plate", 8 | "Sink", 9 | "Fork", 10 | "HousePlant", 11 | "CoffeeMachine", 12 | "Knife", 13 | "Spatula", 14 | "PepperShaker", 15 | "Potato", 16 | "Lettuce", 17 | "Bowl", 18 | "WineBottle", 19 | "Toaster", 20 | "Egg", 21 | "Pan", 22 | "Chair", 23 | "SinkBasin", 24 | "Apple", 25 | "Fridge", 26 | "Window", 27 | "Mug", 28 | "Drawer", 29 | "Cup", 30 | "Bread", 31 | "Pot", 32 | "StoveKnob", 33 | "Microwave", 34 | "SaltShaker", 35 | "GarbageCan", 36 | "DishSponge", 37 | "LightSwitch", 38 | "DiningTable", 39 | "StoveBurner", 40 | "Kettle", 41 | "Faucet", 42 | "Vase", 43 | "Tomato", 44 | "ButterKnife", 45 | "Cabinet", 46 | "Spoon" 47 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan8-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan8-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan8-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "Ladle", 3 | "CounterTop", 4 | "SoapBottle", 5 | "Plate", 6 | "Sink", 7 | "HousePlant", 8 | "Fork", 9 | "CoffeeMachine", 10 | "Knife", 11 | "Spatula", 12 | "PepperShaker", 13 | "Glassbottle", 14 | "Potato", 15 | "Lettuce", 16 | "Bowl", 17 | "Toaster", 18 | "Pen", 19 | "Egg", 20 | "SprayBottle", 21 | "Pan", 22 | "Chair", 23 | "SinkBasin", 24 | "Apple", 25 | "Fridge", 26 | "Window", 27 | "Mug", 28 | "Drawer", 29 | "Cup", 30 | "Bread", 31 | "Pot", 32 | "StoveKnob", 33 | "Microwave", 34 | "SaltShaker", 35 | "GarbageCan", 36 | "DishSponge", 37 | "LightSwitch", 38 | "StoveBurner", 39 | "Kettle", 40 | "Faucet", 41 | "ButterKnife", 42 | "Tomato", 43 | "Cabinet", 44 | "Spoon" 45 | ] -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan9-layout.npy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/layouts/FloorPlan9-layout.npy -------------------------------------------------------------------------------- /grolp/gen/layouts/FloorPlan9-objects.json: -------------------------------------------------------------------------------- 1 | [ 2 | "CounterTop", 3 | "SoapBottle", 4 | "Plate", 5 | "Sink", 6 | "Fork", 7 | "CoffeeMachine", 8 | "Knife", 9 | "Spatula", 10 | "PepperShaker", 11 | "Potato", 12 | "Lettuce", 13 | "Bowl", 14 | "Toaster", 15 | "Egg", 16 | "Pan", 17 | "Apple", 18 | "SinkBasin", 19 | "Chair", 20 | "Fridge", 21 | "Window", 22 | "Mug", 23 | "Drawer", 24 | "Bread", 25 | "Cup", 26 | "Pot", 27 | "StoveKnob", 28 | "Microwave", 29 | "SaltShaker", 30 | "GarbageCan", 31 | "DishSponge", 32 | "LightSwitch", 33 | "DiningTable", 34 | "StoveBurner", 35 | "Faucet", 36 | "Kettle", 37 | "ButterKnife", 38 | "Tomato", 39 | "Cabinet", 40 | "Spoon" 41 | ] -------------------------------------------------------------------------------- /grolp/gen/planner/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/planner/__init__.py -------------------------------------------------------------------------------- /grolp/gen/planner/pddl.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/planner/pddl.pdf -------------------------------------------------------------------------------- /grolp/gen/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/gen/utils/__init__.py -------------------------------------------------------------------------------- /grolp/gen/utils/video_util.py: -------------------------------------------------------------------------------- 1 | import subprocess 2 | 3 | import grolp.gen.constants as constants 4 | 5 | 6 | class VideoSaver(object): 7 | 8 | def __init__(self, frame_rate=constants.VIDEO_FRAME_RATE): 9 | self.frame_rate = frame_rate 10 | 11 | def save(self, image_path, save_path): 12 | subprocess.call(["ffmpeg -r %d -pattern_type glob -y -i '%s' -pix_fmt yuv420p '%s'" % 13 | (self.frame_rate, image_path, save_path)], shell=True) 14 | -------------------------------------------------------------------------------- /grolp/models/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/models/__init__.py -------------------------------------------------------------------------------- /grolp/predictor/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/predictor/__init__.py -------------------------------------------------------------------------------- /grolp/tests/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/tests/__init__.py -------------------------------------------------------------------------------- /grolp/tests/fixtures/bugged.json: -------------------------------------------------------------------------------- 1 | { 2 | "valid_seen": [ 3 | { 4 | "task": "pick_two_obj_and_place-SprayBottle-None-Toilet-429/trial_T20190907_033843_707544", 5 | "repeat_idx": 0 6 | }, 7 | { 8 | "task": "pick_two_obj_and_place-SoapBottle-None-Drawer-415/trial_T20190907_161729_798002", 9 | "repeat_idx": 0 10 | }, 11 | { 12 | "task": "pick_and_place_with_movable_recep-Ladle-Pan-SinkBasin-4/trial_T20190908_192636_561572", 13 | "repeat_idx": 1 14 | } 15 | ], 16 | "valid_unseen": [ 17 | { 18 | "task": "pick_and_place_with_movable_recep-Spoon-Pan-SinkBasin-10/trial_T20190908_092900_630408", 19 | "repeat_idx": 0 20 | } 21 | ] 22 | } -------------------------------------------------------------------------------- /grolp/tests/fixtures/overfit.json: -------------------------------------------------------------------------------- 1 | { 2 | "train": [ 3 | { 4 | "task": "look_at_obj_in_light-Book-None-DeskLamp-328/trial_T20190908_062929_997479", 5 | "repeat_idx": 0 6 | } 7 | ], 8 | "valid_seen": [ 9 | { 10 | "task": "pick_and_place_simple-Egg-None-Microwave-4/trial_T20190906_234406_356490", 11 | "repeat_idx": 0 12 | }, 13 | { 14 | "task": "pick_and_place_simple-Egg-None-Microwave-4/trial_T20190906_234406_356490", 15 | "repeat_idx": 1 16 | }, 17 | { 18 | "task": "pick_and_place_simple-Egg-None-Microwave-4/trial_T20190906_234406_356490", 19 | "repeat_idx": 2 20 | } 21 | ], 22 | "valid_unseen": [ 23 | { 24 | "task": "look_at_obj_in_light-CD-None-DeskLamp-308/trial_T20190908_142046_281296", 25 | "repeat_idx": 2 26 | } 27 | ] 28 | } -------------------------------------------------------------------------------- /grolp/training/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/training/__init__.py -------------------------------------------------------------------------------- /grolp/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/grolp/utils/__init__.py -------------------------------------------------------------------------------- /grolp/utils/video_util.py: -------------------------------------------------------------------------------- 1 | import subprocess 2 | 3 | import grolp.gen.constants as constants 4 | 5 | 6 | class VideoSaver(object): 7 | 8 | def __init__(self, frame_rate=constants.VIDEO_FRAME_RATE): 9 | self.frame_rate = frame_rate 10 | 11 | def save(self, image_path, save_path): 12 | cmd = "ffmpeg -r %d -pattern_type glob -y -i '%s/*.png' -pix_fmt yuv420p '%s'" % ( 13 | self.frame_rate, image_path, save_path) 14 | subprocess.call([cmd], shell=True) 15 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | ai2thor==2.1.0 2 | allennlp==2.4.0 3 | cython 4 | pycocotools==2.0.0 5 | transformers==4.36.0 6 | jsonlines 7 | open3d 8 | opencv-python 9 | networkx 10 | tabulate 11 | pytorch-lightning==1.6.0 12 | -------------------------------------------------------------------------------- /scripts/check_thor.py: -------------------------------------------------------------------------------- 1 | from ai2thor.controller import Controller 2 | 3 | c = Controller() 4 | c.start() 5 | event = c.step(dict(action="MoveAhead")) 6 | assert event.frame.shape == (300, 300, 3) 7 | print(event.frame.shape) 8 | print("Everything works!!!") -------------------------------------------------------------------------------- /scripts/download_alfred_data.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # Install 7z 4 | echo "Checking for 7z (might require installation)..." 5 | 6 | if sudo apt-get install p7zip-full -y; then 7 | echo "7z found/installed" 8 | else 9 | echo "Failed: Please install 7z (https://www.7-zip.org/7z.html)" 10 | exit 1 11 | fi 12 | 13 | # Download, Unzip, and Remove zip 14 | if [ "$1" = "json" ] 15 | then 16 | 17 | echo "Downloading JSONs ..." 18 | wget https://ai2-vision-alfred.s3-us-west-2.amazonaws.com/json_2.1.0.7z 19 | 7z x json_2.1.0.7z -y && rm json_2.1.0.7z 20 | echo "saved folder: json_2.1.0" 21 | 22 | elif [ "$1" = "json_feat" ] 23 | then 24 | 25 | echo "Downloading JSONs and Resnet18 feats ..." 26 | wget https://ai2-vision-alfred.s3-us-west-2.amazonaws.com/json_feat_2.1.0.7z 27 | 7z x json_feat_2.1.0.7z -y && rm json_feat_2.1.0.7z 28 | echo "saved folder: json_feat_2.1.0" 29 | 30 | elif [ "$1" = "full" ] 31 | then 32 | 33 | echo "Downloading JSONs, Resnet18 feats, Images, Videos, and PDDL states ..." 34 | wget https://ai2-vision-alfred.s3-us-west-2.amazonaws.com/full_2.1.0.7z 35 | 7z x full_2.1.0.7z -y && rm full_2.1.0.7z 36 | echo "saved folder: full_2.1.0" 37 | 38 | else 39 | echo "Failed: Usage download_data.sh json | json_feat | full" 40 | exit 1 41 | fi 42 | -------------------------------------------------------------------------------- /scripts/fix_recurrent_vlnbert_weights.py: -------------------------------------------------------------------------------- 1 | from collections import OrderedDict 2 | 3 | import torch 4 | 5 | original_path = "storage/models/pretrained/snap/VLNBERT-OSCAR-final/state_dict/best_val_unseen" 6 | 7 | destination_path = "storage/models/pretrained/recurrent_vlnbert_oscar.pt" 8 | 9 | # first of all we load the checkpoint 10 | checkpoint = torch.load(original_path, map_location="cpu") 11 | 12 | # we extract the actual state_dict 13 | orig_state_dict = checkpoint["vln_bert"]["state_dict"] 14 | 15 | # the weights stored by Recurrent VLN-BERT have a prefix named vln_bert.bert.*, we just get rid of vln_bert 16 | 17 | new_state_dict = OrderedDict({ 18 | k.replace("vln_bert.", ""): v for k, v in orig_state_dict.items() 19 | }) 20 | 21 | torch.save(new_state_dict, destination_path) 22 | -------------------------------------------------------------------------------- /scripts/generate_moca_maskrcnn.sh: -------------------------------------------------------------------------------- 1 | #/bin/bash 2 | 3 | PYTHONPATH=. python scripts/generate_maskrcnn_horizon0.py --batch_size 8 --num_workers 4 --cuda_device 0 --split_id valid_seen --features_folder moca_maskrcnn_36_18_18_18 --model_checkpoint storage/models/vision/moca_maskrcnn/weight_maskrcnn.pt; 4 | PYTHONPATH=. python scripts/generate_maskrcnn_horizon0.py --batch_size 8 --num_workers 4 --cuda_device 0 --split_id valid_unseen --features_folder moca_maskrcnn_36_18_18_18 --model_checkpoint storage/models/vision/moca_maskrcnn/weight_maskrcnn.pt; 5 | PYTHONPATH=. python scripts/generate_maskrcnn_horizon0.py --batch_size 8 --num_workers 4 --cuda_device 0 --split_id train --features_folder moca_maskrcnn_36_18_18_18 --model_checkpoint storage/models/vision/moca_maskrcnn/weight_maskrcnn.pt; -------------------------------------------------------------------------------- /scripts/generate_vision_dataset.sh: -------------------------------------------------------------------------------- 1 | #/bin/bash 2 | 3 | PYTHONPATH=. python scripts/extract_vision_dataset.py --num_workers 8 --split_id valid_seen --output_file storage/data/alfred/valid_seen.jsonl.gz; 4 | PYTHONPATH=. python scripts/extract_vision_dataset.py --num_workers 8 --split_id valid_unseen --output_file storage/data/alfred/valid_unseen.jsonl.gz; 5 | PYTHONPATH=. python scripts/extract_vision_dataset.py --num_workers 8 --split_id train --output_file storage/data/alfred/train.jsonl.gz; -------------------------------------------------------------------------------- /scripts/merge_leaderboard.py: -------------------------------------------------------------------------------- 1 | import json 2 | import os 3 | from argparse import ArgumentParser 4 | from datetime import datetime 5 | 6 | 7 | def main(args): 8 | with open(args.tests_seen) as in_file: 9 | tests_seen = json.load(in_file) 10 | 11 | with open(args.tests_unseen) as in_file: 12 | tests_unseen = json.load(in_file) 13 | 14 | results = {"tests_seen": tests_seen["tests_seen"], "tests_unseen": tests_unseen["tests_unseen"]} 15 | 16 | save_path = os.path.dirname(args.tests_seen) 17 | 18 | output_path = os.path.join(save_path, 19 | f'tests_actseqs_dump_{datetime.now().strftime("%Y%m%d_%H%M%S_%f")}.json') 20 | 21 | with open(output_path, mode="w") as out_file: 22 | json.dump(results, out_file) 23 | 24 | 25 | if __name__ == "__main__": 26 | parser = ArgumentParser() 27 | parser.add_argument("-ts", dest="tests_seen", type=str) 28 | parser.add_argument("-tus", dest="tests_unseen", type=str) 29 | args = parser.parse_args() 30 | 31 | main(args) 32 | -------------------------------------------------------------------------------- /scripts/run_eval.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | model_path=$1 4 | 5 | PYTHONPATH=. python grolp/eval/eval_seq2seq.py --model_path $model_path --eval_split valid_seen --cuda_device 0 --num_workers 4; 6 | PYTHONPATH=. python grolp/eval/eval_seq2seq.py --model_path $model_path --eval_split valid_unseen --cuda_device 0 --num_workers 4; -------------------------------------------------------------------------------- /scripts/run_leaderboard.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | model_path=$1 4 | 5 | PYTHONPATH=. python grolp/eval/leaderboard.py --model_path $model_path --eval_split tests_seen --cuda_device 0 --num_workers 4; 6 | PYTHONPATH=. python grolp/eval/leaderboard.py --model_path $model_path --eval_split tests_unseen --cuda_device 0 --num_workers 4; -------------------------------------------------------------------------------- /vision/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/amazon-science/embert/928d73ad8528ff443464056ebf2d38c14e27a58c/vision/__init__.py 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