File size: 7,308 Bytes
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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
# Try distance=X pattern
match = re.search(r'distance=(\d+(?:\.\d+)?)', params_str)
if match:
return float(match.group(1))
# Try direct number
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)
# Navigation - Move(direction, granularity)
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':
# Already in new format
return action_str
# Viewpoint & Posture - Rotate/Tilt
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 # Already converted
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 # Already converted
if name == 'ChangePosture':
return action_str
# Interaction - Pick/Place
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")'
# Interaction - ChangeState
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 # Already converted
# Interaction - Manipulate (complex actions)
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 # Already converted
# Task-Control
if name == 'Done':
return 'EndTask("success")'
if name == 'Stop':
return 'EndTask("stopped")'
if name == 'EndTask':
return action_str # Already converted
# Communication
if name == 'Communicate':
return action_str # Already converted
# Unknown action - return as-is
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"
# Update data
data['golden_actions']['actions'] = converted_actions
# Write back
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
# Find all task.json files
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()
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