partnr-planner
A repository accompanying the PARTNR benchmark for using Large Planning Models (LPMs) to solve Human-Robot Collaboration or Robot Instruction Following tasks in the Habitat simulator.
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최종 버전 다운로드 (.zip)- action.yml
- action.yml
- install_and_test.yml
- PULL_REQUEST_TEMPLATE.md
- run_dataset_analysis.py
- task_type_upset_plot.py
- coreference_resolution.py
- requirements.txt
- resolve_src_dir.py
- __init__.py
- attach_auto_dependencies.py
- check_templates_match.py
- eval_predicates.json
- evaluation_generator.py
- heuristics.py
- metadata_mapping.py
- parsing.py
- utils.py
- within_set_verification.py
- os_propositions_prompt.txt
- propositions_prompt.txt
- temporal_prompt.txt
- tie_prompt.txt
- 20_val_object_states.json
- 300_rearrange_train_template.json
- 300_rearrange_val_template.json
- 300_spatial_train_template.json
- 300_spatial_val_template.json
- 300_temporal_train_template.json
- 300_temporal_val_template.json
- 30_train_object_states.json
- scene_and_json_oneshot.txt
- scene_and_json_oneshot_temporal.txt
- scene_and_json_twoshot_spatial.txt
- templated_prompt.txt
- templated_prompt_object_states.txt
- __init__.py
- categorize_instructions.py
- filter_instructions.py
- generate_episodes.py
- generate_evaluations.py
- generate_instructions.py
- metadata_extractor.py
- parse_generated_instructions.py
- verify_dataset.py
- llama3_benchmark.yaml
- benchmark_gen.yaml
- evaluation_gen.yaml
- test_episode_generator.py
- test_evaluation_generator.py
- __init__.py
- README.md
- adding_new_planners.md
- adding_new_skills.md
- cover_fig.png
- extending.md
- instruct_llm.md
- planner_v3.png
- skill_flow.png
- __init__.py
- evaluation_functions.py
- failure_explanations.py
- predicate_wrappers.py
- README.md
- __init__.py
- semantic_map.py
- __init__.py
- actions.py
- dataset.py
- environment_interface.py
- measures.py
- sensors.py
- __init__.py
- agent.py
- datautils.py
- hab_dataset.py
- README.md
- typecasting_utils.py
- nn_rearrange_agent.yaml
- nn_rearrange_agent_motortoolsonly.yaml
- oracle_nav_agent.yaml
- oracle_point_skills_agent.yaml
- oracle_rearrange_agent.yaml
- oracle_rearrange_agent_motortoolsonly.yaml
- oracle_rearrange_agent_no_explore.yaml
- oracle_rearrange_agent_no_find_agent_action.yaml
- oracle_rearrange_object_states_agent.yaml
- oracle_rearrange_object_states_agent_motortoolsonly.yaml
- rl_rearrange_agent.yaml
- search_engine_agent.yaml
- centralized_zero_shot_react_summary.yaml
- decentralized_ft_human_react_summary.yaml
- decentralized_react_baseline.yaml
- decentralized_state_based_baseline.yaml
- decentralized_zero_shot_human_summary_robot_tools.yaml
- decentralized_zero_shot_human_tools_robot_summary.yaml
- decentralized_zero_shot_react_summary.yaml
- decentralized_zero_shot_react_summary_nn.yaml
- decentralized_zero_shot_react_tools.yaml
- heuristic_full_obs.yaml
- single_agent_zero_shot_react_summary.yaml
- evaluation_validation.yaml
- centralized_evaluation_runner_motortoolsonly_multiagent.yaml
- centralized_evaluation_runner_multi_agent.yaml
- centralized_evaluation_runner_multi_agent_nn_skills.yaml
- centralized_evaluation_runner_single_agent.yaml
- centralized_evaluation_runner_statebased_multiagent.yaml
- decentralized_evaluation_runner_multi_agent.yaml
- decentralized_evaluation_runner_multi_agent_nn_skills.yaml
- decentralized_evaluation_runner_multi_agent_no_explore.yaml
- decentralized_evaluation_runner_single_agent.yaml
- decentralized_evaluation_runner_statebased_multiagent.yaml
- decentralized_evaluation_runner_statebased_reacthuman.yaml
- centralized_full_obs.yaml
- centralized_planner_single_agent_demo_config.yaml
- planner_multi_agent_demo_config.yaml
- random_rearrange.yaml
- single_agent_scene_mapping.yaml
- skill_runner_default_config.yaml
- spot_oracle_config_with_explore.yaml
- slurm_train.yaml
- finetuning.yaml
- collaboration_hssd.yaml
- rgbd_head_rgbd_arm_agent_vis.yaml
- rgbd_head_rgbd_arm_rgbd_jaw_agent_vis.yaml
- rearrange_easy.yaml
- rearrange_easy_multi_agent.yaml
- rearrange_easy_multi_agent_nn.yaml
- rearrange_easy_single_agent.yaml
- rearrange_single_agent_mapping.yaml
- sandbox.yaml
- oracle_spot_kinematic.yaml
- oracle_spot_kinematic_multi_agent.yaml
- oracle_spot_kinematic_single_agent.yaml
- rl_fetch_dynamic.yaml
- sandbox.yaml
- output.yaml
- few_shot_centralized_full_obs_multiagent.yaml
- few_shot_centralized_full_obs_multiagent_motoronly.yaml
- few_shot_centralized_full_obs_multiagent_spatial.yaml
- few_shot_centralized_multiagent_proposition.yaml
- few_shot_centralized_partial_obs_multiagent.yaml
- few_shot_centralized_state_replan.yaml
- few_shot_centralized_state_replan_llama.yaml
- few_shot_dc_partial_state_human.yaml
- few_shot_dc_partial_state_human_llama.yaml
- few_shot_dc_partial_state_robot.yaml
- few_shot_dc_partial_state_robot_llama.yaml
- few_shot_dc_partial_state_robot_llamainstruct.yaml
- few_shot_decentralized_full_obs_coordinated_human.yaml
- few_shot_decentralized_full_obs_coordinated_human_spatial.yaml
- few_shot_decentralized_full_obs_coordinated_robot.yaml
- few_shot_decentralized_full_obs_coordinated_robot_spatial.yaml
- few_shot_decentralized_full_obs_uncoordinated.yaml
- few_shot_decentralized_full_obs_uncoordinated_spatial.yaml
- few_shot_decentralized_fullobs_human_spatialobjstates.yaml
- few_shot_decentralized_fullobs_human_spatialobjstates_instruct.yaml
- few_shot_decentralized_fullobs_robot_spatialobjstates.yaml
- few_shot_decentralized_fullobs_robot_spatialobjstates_instruct.yaml
- few_shot_decentralized_partial_human_spatialobjstates_instruct.yaml
- few_shot_decentralized_partial_obs_coordinated_human.yaml
- few_shot_decentralized_partial_obs_coordinated_human_spatial.yaml
- few_shot_decentralized_partial_obs_coordinated_robot.yaml
- few_shot_decentralized_partial_obs_coordinated_robot_spatial.yaml
- few_shot_decentralized_partial_obs_uncoordinated.yaml
- few_shot_decentralized_partial_obs_uncoordinated_spatial.yaml
- few_shot_decentralized_partial_robot_spatialobjstates_instruct.yaml
- few_shot_decentralized_state_replan_human.yaml
- few_shot_decentralized_state_replan_human_llama.yaml
- few_shot_decentralized_state_replan_robot.yaml
- few_shot_decentralized_state_replan_robot_llama.yaml
- few_shot_decentralized_state_replan_robot_llamainstruct.yaml
- finetuned_zero_shot.yaml
- zero_shot_centralized.yaml
- zero_shot_prompt.yaml
- llama.yaml
- llama_non_instruct.yaml
- mock.yaml
- multimodal_llama.yaml
- openai_chat.yaml
- logging_defaults.yaml
- semantic_map.yaml
- dag_centralized_planner.yaml
- llm_centralized_motortoolsonly.yaml
- llm_centralized_planner.yaml
- llm_centralized_state_planner.yaml
- llm_decentralized_state_planner.yaml
- llm_decentralized_thoughtless_planner.yaml
- llm_planner.yaml
- llm_zero_shot_react_planner.yaml
- random_rearrange_planner.yaml
- base.yaml
- active_user_feedback_tool.yaml
- calculator_tool.yaml
- greet_user_tool.yaml
- search_engine_tool.yaml
- explore.yaml
- nn_close.yaml
- nn_explore.yaml
- nn_nav.yaml
- nn_open.yaml
- nn_pick.yaml
- nn_place.yaml
- nn_rearrange.yaml
- oracle_clean.yaml
- oracle_clean_in_place.yaml
- oracle_close.yaml
- oracle_explore.yaml
- oracle_fill.yaml
- oracle_fill_in_place.yaml
- oracle_nav.yaml
- oracle_open.yaml
- oracle_pick.yaml
- oracle_place.yaml
- oracle_point_nav.yaml
- oracle_point_pick.yaml
- oracle_pour.yaml
- oracle_pour_in_place.yaml
- oracle_power_off.yaml
- oracle_power_off_in_place.yaml
- oracle_power_on.yaml
- oracle_power_on_in_place.yaml
- oracle_rearrange.yaml
- wait.yaml
- find_agent_action_tool.yaml
- find_object_tool.yaml
- find_receptacle_tool.yaml
- find_room_tool.yaml
- query_map_tool.yaml
- base_train.yaml
- trajectory_logger.yaml
- own.yaml
- concept_graph.yaml
- gt_graph.yaml
- __init__.py
- __init__.py
- centralized_evaluation_runner.py
- decentralized_evaluation_runner.py
- evaluation_runner.py
- example_utils.py
- fix_episode_placements.py
- planner_demo.py
- readme.md
- scene_mapping.py
- skill_runner.py
- verify_episodes.py
- build_trace_dataset.py
- build_trace_react.py
- dataset.py
- flatten_checkpoint.py
- ft_utils.py
- README.md
- trainer.py
- utils.py
- __init__.py
- base_llm.py
- hf_model.py
- llama.py
- mock.py
- multimodal_llama.py
- openai_chat.py
- README.md
- rlm_lock.py
- __init__.py
- perception.py
- perception_obs.py
- perception_sim.py
- __init__.py
- centralized_llm_planner.py
- llm_planner.py
- planner.py
- rag.py
- random_rearrange_planner.py
- scripted_centralized_planner.py
- thoughtless_llm_planner.py
- zero_shot_react_planner.py
- collaboration_sim.py
- metadata_interface.py
- test_cg_graph.py
- test_constrained_generation.py
- test_dataset.py
- test_evaluation.py
- test_generation.py
- test_graph.py
- test_imports.py
- test_metadata_interface.py
- test_planner.py
- test_skills.py
- test_verification.py
- test_world_graph.py
- nn_art_obj_skill.py
- nn_close_skill.py
- nn_open_skill.py
- oracle_open_close_skill.py
- explore_skill.py
- nn_explore_skill.py
- oracle_explore_skill.py
- __init__.py
- nn_nav_skill.py
- oracle_nav_skill.py
- oracle_point_nav_skill.py
- oracle_clean_skills.py
- oracle_fill_skills.py
- oracle_object_state_skill.py
- oracle_pour_skills.py
- oracle_power_skills.py
- __init__.py
- nn_pick_skill.py
- oracle_pick_skill.py
- oracle_point_pick_skill.py
- __init__.py
- nn_place_skill.py
- oracle_place_skill.py
- __init__.py
- nn_rearrange_skill.py
- oracle_rearrange_skill.py
- __init__.py
- reset_arm_skill.py
- __init__.py
- wait_skill.py
- __init__.py
- compound_skill.py
- motor_skill_tool.py
- nn_skill.py
- README.md
- skill.py
- __init__.py
- find_agent_action_tool.py
- find_object_tool.py
- find_receptacle_tool.py
- find_room_tool.py
- query_map_tool.py
- __init__.py
- prompts.py
- tool.py
- __init__.py
- core.py
- geometric.py
- grammar.py
- init_llama_remote.sh
- semantic_constants.py
- sim.py
- world_graph.py
- __init__.py
- floor.py
- furniture.py
- __init__.py
- dynamic_world_graph.py
- entity.py
- graph.py
- object_states.py
- README.md
- world_graph.py
- __init__.py
- gpt_fast_model.py
- grammar_sampler.py
- model.py
- quantize.py
- tokenizer.py
- tp.py
- __init__.py
- convert_hf_checkpoint.py
- interactive_genfast_gpt.py
- serve_model.py
- __init__.py
- compute_scores.py
- hitl_episode.py
- preprocess_data.py
- README.md
- replay_and_evaluate.py
- visualize_episode.py
- bathtub@2x.png
- bed@2x.png
- bench@2x.png
- cabinet@2x.png
- chair@2x.png
- chest_of_drawers@2x.png
- couch@2x.png
- counter@2x.png
- dishwasher@2x.png
- fridge@2x.png
- microwave@2x.png
- oven@2x.png
- shelves@2x.png
- shower@2x.png
- sink@2x.png
- stand@2x.png
- stool@2x.png
- table@2x.png
- toilet@2x.png
- trashcan@2x.png
- wardrobe@2x.png
- washer_dryer@2x.png
- Inter-Black.ttf
- Inter-Bold.ttf
- Inter-ExtraBold.ttf
- Inter-ExtraLight.ttf
- Inter-Light.ttf
- Inter-Medium.ttf
- Inter-Regular.ttf
- Inter-SemiBold.ttf
- Inter-Thin.ttf
- Inter-VariableFont_slnt,wght.ttf
- OFL.txt
- README.txt
- object_clean.png
- object_clean_plus_on.png
- object_clean_plus_on_ON_ONLY.png
- object_dirty.png
- object_empty.png
- object_full.png
- object_on.png
- refresh.png
- annotated_annotation_tool.png
- annotation_tool.png
- object_affordance.png
- receptacle_affordance.png
- receptacle_collage.png
- bathtub@2x.png
- bed@2x.png
- bench@2x.png
- cabinet@2x.png
- car@2x.png
- chair@2x.png
- chest_of_drawers@2x.png
- couch@2x.png
- counter@2x.png
- dishwasher@2x.png
- filing_cabinet@2x.png
- fridge@2x.png
- microwave@2x.png
- oven@2x.png
- shelves@2x.png
- shower@2x.png
- sink@2x.png
- stand@2x.png
- stool@2x.png
- table@2x.png
- toilet@2x.png
- trashcan@2x.png
- unknown@2x.png
- wardrobe@2x.png
- washer_dryer@2x.png
- __init__.py
- config.yaml
- __init__.py
- diff_args_legend.py
- is_next_to_legend.py
- same_args_legend.py
- __init__.py
- constants.py
- instance_color_map.py
- object.py
- placeholder.py
- prediviz.py
- receptacle.py
- room.py
- scene.py
- temporal_utils.py
- tiny_room.py
- utils.py
- annotated_annotation_tool.png
- annotation_tool.png
- interface.html
- object_affordance.png
- README.md
- receptacle_affordance.png
- server.py
- calculate_correctness_scores.py
- create_samples.py
- __init__.py
- README.md
- viz.py
- finetune_planner.sh
- read_results.py
- run_dynamic_cg_planning.sh
- run_partial_obs_with_gt.sh
- run_scene_mapping.sh
- stats_calculator.py
- habitat-lab
- semantic_exploration
- transformers-CFG
- .gitignore
- .gitmodules
- .pre-commit-config.yaml
- CODE_OF_CONDUCT.md
- CONTRIBUTING.md
- INSTALLATION.md
- LICENSE
- pyproject.toml
- README.md
- requirements.txt
- setup.cfg
- setup.py
# 설치 가이드
1. 코드 내려받기
git clone https://github.com/facebookresearch/partnr-planner
깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.
cd partnr-planner
방금 내려받은 프로젝트 폴더 안으로 이동합니다.
2. Python
쉬움 추천사전 준비물
python -m habitat_llm.examples.planner_demo --config-name baselines/decentralized_zero_shot_react_summary.yaml \
파이썬 스크립트(또는 모듈)를 실행합니다.
python -m habitat_llm.examples.planner_demo --config-name baselines/centralized_zero_shot_react_summary.yaml \
파이썬 스크립트(또는 모듈)를 실행합니다.
python -m habitat_llm.examples.planner_demo --config-name baselines/single_agent_zero_shot_react_summary.yaml \
파이썬 스크립트(또는 모듈)를 실행합니다.
python -m habitat_llm.examples.planner_demo --config-name baselines/heuristic_full_obs.yaml \
파이썬 스크립트(또는 모듈)를 실행합니다.
HYDRA_FULL_ERROR=1 python -m habitat_llm.examples.verify_episodes \
파이썬 스크립트(또는 모듈)를 실행합니다.
에러 메시지 없이 실행되고 터미널에 안내 문구가 출력되면 정상입니다.
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
// repository documentation
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