| """
|
| Convert task actions to Unified Action Space format
|
| Based on the table:
|
| - Navigation: Move(direction, [granularity])
|
| - Viewpoint & Posture: Rotate(direction, [angle]), Tilt(direction, [angle]), ChangePosture(pose)
|
| - Interaction: Pick/Place(obj, [target]), ChangeState(obj, state), Manipulate(obj, action)
|
| - Task-Control & Coordination: EndTask(status), Communicate(msg)
|
| """
|
|
|
| import json
|
| import os
|
| import re
|
| from pathlib import Path
|
| from collections import Counter
|
|
|
| def extract_distance(params_str, default=1.0):
|
| """Extract distance value from params string like 'distance=10' or just '1.0'"""
|
| if not params_str:
|
| return default
|
|
|
| match = re.search(r'distance=(\d+(?:\.\d+)?)', params_str)
|
| if match:
|
| return float(match.group(1))
|
|
|
| match = re.search(r'^(\d+(?:\.\d+)?)$', params_str.strip())
|
| if match:
|
| return float(match.group(1))
|
| return default
|
|
|
| def extract_angle(params_str, default=90):
|
| """Extract angle value from params string"""
|
| if not params_str:
|
| return default
|
| match = re.search(r'(\d+)', params_str)
|
| if match:
|
| return int(match.group(1))
|
| return default
|
|
|
| def parse_action(action_str):
|
| """Parse action string like 'MoveAhead(1.0)' -> (name, params)"""
|
| match = re.match(r'^(\w+)\s*(?:\(([^)]*)\))?$', action_str.strip())
|
| if match:
|
| name = match.group(1)
|
| params = match.group(2) if match.group(2) else ''
|
| return name, params
|
| return action_str, ''
|
|
|
| def convert_action(action_str):
|
| """Convert a single action to unified format"""
|
| name, params = parse_action(action_str)
|
|
|
|
|
| if name == 'MoveAhead':
|
| return f'Move("forward", {extract_distance(params, 1.0)})'
|
| if name == 'MoveBack':
|
| return f'Move("backward", {extract_distance(params, 1.0)})'
|
| if name == 'MoveLeft':
|
| return f'Move("left", {extract_distance(params, 1.0)})'
|
| if name == 'MoveRight':
|
| return f'Move("right", {extract_distance(params, 1.0)})'
|
| if name == 'WalkForward':
|
| return f'Move("forward", {extract_distance(params, 10)})'
|
| if name == 'FollowLane':
|
| return f'Move("forward", {extract_distance(params, 10)})'
|
| if name == 'Move':
|
|
|
| return action_str
|
|
|
|
|
| if name == 'RotateLeft':
|
| return f'Rotate("left", {extract_angle(params, 90)})'
|
| if name == 'RotateRight':
|
| return f'Rotate("right", {extract_angle(params, 90)})'
|
| if name == 'TurnLeft':
|
| return f'Rotate("left", 90)'
|
| if name == 'TurnRight':
|
| return f'Rotate("right", 90)'
|
| if name == 'TeleportTurnLeft':
|
| return f'Rotate("left", 90)'
|
| if name == 'TeleportTurnRight':
|
| return f'Rotate("right", 90)'
|
| if name == 'Rotate':
|
| return action_str
|
|
|
| if name == 'LookUp':
|
| return f'Tilt("up", {extract_angle(params, 30)})'
|
| if name == 'LookDown':
|
| return f'Tilt("down", {extract_angle(params, 30)})'
|
| if name == 'Tilt':
|
| return action_str
|
|
|
| if name == 'ChangePosture':
|
| return action_str
|
|
|
|
|
| if name == 'PickupObject':
|
| obj = params.strip() if params else 'object'
|
| return f'Pick("{obj}")'
|
| if name == 'PutObject':
|
| obj = params.strip() if params else 'object'
|
| return f'Place("{obj}")'
|
| if name == 'DropHandObject':
|
| return 'Place("held_object")'
|
|
|
|
|
| if name == 'ToggleObjectOn':
|
| obj = params.strip() if params else 'object'
|
| return f'ChangeState("{obj}", "on")'
|
| if name == 'ToggleObjectOff':
|
| obj = params.strip() if params else 'object'
|
| return f'ChangeState("{obj}", "off")'
|
| if name == 'ChangeState':
|
| return action_str
|
|
|
|
|
| if name in ['OpenObject', 'CloseObject', 'CleanObject', 'FillObjectWithLiquid',
|
| 'SliceObject', 'BreakObject', 'CookObject', 'EmptyLiquidFromObject']:
|
| obj = params.strip() if params else 'object'
|
| action_name = name.replace('Object', '').lower()
|
| return f'Manipulate("{obj}", "{action_name}")'
|
|
|
| if name == 'Manipulate':
|
| return action_str
|
|
|
|
|
| if name == 'Done':
|
| return 'EndTask("success")'
|
| if name == 'Stop':
|
| return 'EndTask("stopped")'
|
| if name == 'EndTask':
|
| return action_str
|
|
|
|
|
| if name == 'Communicate':
|
| return action_str
|
|
|
|
|
| return action_str
|
|
|
| def convert_task_file(filepath, stats):
|
| """Convert actions in a single task file"""
|
| try:
|
| with open(filepath, 'r', encoding='utf-8') as f:
|
| data = json.load(f)
|
|
|
| if 'golden_actions' not in data or 'actions' not in data['golden_actions']:
|
| return False, "No golden_actions"
|
|
|
| original_actions = data['golden_actions']['actions']
|
| if not original_actions:
|
| return False, "Empty actions"
|
|
|
| converted_actions = []
|
| has_changes = False
|
|
|
| for a in original_actions:
|
| converted = convert_action(a)
|
| converted_actions.append(converted)
|
| if converted != a:
|
| has_changes = True
|
| old_name, _ = parse_action(a)
|
| new_name, _ = parse_action(converted)
|
| key = f"{old_name} -> {new_name}"
|
| stats[key] += 1
|
|
|
| if not has_changes:
|
| return False, "No changes needed"
|
|
|
|
|
| data['golden_actions']['actions'] = converted_actions
|
|
|
|
|
| with open(filepath, 'w', encoding='utf-8') as f:
|
| json.dump(data, f, indent=2, ensure_ascii=False)
|
|
|
| return True, None
|
|
|
| except Exception as e:
|
| return False, str(e)
|
|
|
| def main():
|
| base_dir = Path(".")
|
| stats = Counter()
|
|
|
| converted = 0
|
| unchanged = 0
|
| errors = 0
|
| no_actions = 0
|
|
|
|
|
| for task_file in base_dir.rglob("task.json"):
|
| success, msg = convert_task_file(task_file, stats)
|
| if success:
|
| converted += 1
|
| elif msg == "No changes needed":
|
| unchanged += 1
|
| elif msg == "No golden_actions":
|
| no_actions += 1
|
| else:
|
| errors += 1
|
| print(f"Warning: {task_file} - {msg}")
|
|
|
| print(f"\n{'='*70}")
|
| print(f"Conversion Summary")
|
| print(f"{'='*70}")
|
| print(f"Files modified: {converted}")
|
| print(f"Files unchanged: {unchanged}")
|
| print(f"Files without golden_actions: {no_actions}")
|
| print(f"Errors: {errors}")
|
| print(f"Total processed: {converted + unchanged + errors + no_actions}")
|
|
|
| print(f"\nAction conversion statistics (top 30):")
|
| for key, count in stats.most_common(30):
|
| print(f" {count:6d} | {key}")
|
|
|
| if __name__ == "__main__":
|
| main()
|
|
|
