| # Datasets Repository | |
| This folder contains three graph datasets saved as pickle files, used for the evaluation of methods. Each dataset is a list of dictionaries containing the task name, initial state, and goal state represented as NetworkX graphs. Additionally, each dictionary includes specific information relevant to the dataset. | |
| | **Data** | **Number of Tasks** | **Mean nodes** | **Actions** | | |
| |---------------------|-----------|-----------|-------------| | |
| | SayPlan Office | 25 | 202.6 | 2.1 | | |
| | Behaviour-1K | 186 | 12.1 | 4.9 | | |
| | VirtualHome | 347 | 195.7 | 1.6 | | |
| **Table 1:** Dataset comparison. *Actions* represent the mean number of nodes changed between the initial and goal graph. | |
| To load a dataset, use the following code snippet: | |
| ```python | |
| import pickle | |
| with open('./datasets/<name>.pkl', 'rb') as file: | |
| tasks = pickle.load(file) | |
| ``` | |
| ## SayPlan Office | |
| The SayPlan Office dataset represents graphs and tasks defined in [SayPlan](https://sayplan.github.io/). Each task consists of a dictionary with the following structure: | |
| - `name`: The name of the task. | |
| - `human`: Human-readable task description (same as `name` for SayPlan). | |
| - `detailed`: Detailed task description (same as `name` for SayPlan). | |
| - `init`: Initial state as a NetworkX graph. | |
| - `goal`: Goal state as a NetworkX graph. | |
| - `actions`: A list of ground-truth actions to complete the task. | |
| ## Behaviour-1K | |
| The Behaviour-1K dataset represents tasks defined in [Behaviour1K](https://behavior.stanford.edu/knowledgebase/tasks/index.html). For each task defined in BDDL, a subgraph was constructed to represent the environment. Using this subgraph, the goal graph was created, and human-readable as well as detailed task descriptions were added. | |
| The dataset contains a total of 186 tasks, each represented by a dictionary with the following structure: | |
| - `name`: The name of the task from Behaviour1K. | |
| - `human`: Human-readable task description. | |
| - `detailed`: Detailed task description. | |
| - `init`: Initial state as a NetworkX graph. | |
| - `goal`: Goal state as a NetworkX graph. | |
| ## VirtualHome RobotHow | |
| The VirtualHome dataset represents tasks from the [RobotHow](http://virtual-home.org/tools/explore.html) dataset. For each task, the VirtualHome graph was reconstructed into a structure compatible with our methods. This was achieved using the `graph_parser.py` script available in the `utils` folder of the repository. | |
| Additionally, an `ids` dictionary maps nodes from the initial NetworkX graph to VirtualHome IDs. For example, the node `('fridge', 1)` in the initial graph corresponds to the fridge node with ID 67 in the VirtualHome backend graph. This mapping is useful when using the dataset with the VirtualHome simulator. | |
| Each task is represented by a dictionary with the following structure: | |
| - `name`: The name of the task from RobotHow. | |
| - `human`: Human-readable task description. (Same as name for RobotHow) | |
| - `detailed`: Detailed task description. | |
| - `init`: Initial state as a NetworkX graph. | |
| - `goal`: Goal state as a NetworkX graph. | |
| - `ids`: Mapping of nodes to VirtualHome IDs. | |