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.gitignore

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+__pycache__
+.rasa
+*.tar.gz

.idea/.gitignore

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+    <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot_test_location_no_action2.coverage" NAME="pytest for test_fewshot.test_location_no_action2 Coverage Results" MODIFIED="1689925965485" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
+    <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_in_test_chatgpt4uavs_py.coverage" NAME="pytest in test_chatgpt4uavs.py Coverage Results" MODIFIED="1689811486444" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
+    <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot_test_no_location3.coverage" NAME="pytest for test_fewshot.test_no_location3 Coverage Results" MODIFIED="1689894610483" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
+    <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot.coverage" NAME="pytest for test_fewshot Coverage Results" MODIFIED="1689924456081" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
+    <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot_test_location_no_action.coverage" NAME="pytest for test_fewshot.test_location_no_action Coverage Results" MODIFIED="1689925977067" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
+    <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot_test_gym.coverage" NAME="pytest for test_fewshot.test_gym Coverage Results" MODIFIED="1689892873253" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
+  </component>
+</project>

README.md

@@ -1,12 +1,6 @@
 ---
-title: Conversational Uav Explorer
-emoji: 🌖
-colorFrom: blue
-colorTo: blue
-sdk: gradio
-sdk_version: 3.39.0
+title: conversational_uav_explorer
 app_file: app.py
-pinned: false
+sdk: gradio
+sdk_version: 3.34.0
 ---
-
-Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference

app.py

@@ -0,0 +1,62 @@
+import openai
+import gradio as gr
+from prompts import prompt_chat_response
+from fewshot import FewShot4UAVs
+
+openai.api_key = "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"
+
+fewshot = FewShot4UAVs()
+
+
+def transcribe(audio):
+    messages = [
+        {"role": "system",
+         "content": prompt_chat_response}
+    ]
+
+    audio_file = open(audio, "rb")
+    transcript = openai.Audio.transcribe("whisper-1", audio_file)
+
+    original_transcript = transcript["text"]
+    messages.append({"role": "user", "content": original_transcript, "name": "Operator"})
+
+    formatted_command_text = fewshot.get_command(original_transcript)
+    messages.append({"role": "function", "content": formatted_command_text, "name": "UAV"})
+
+    response = openai.ChatCompletion.create(
+        model="gpt-3.5-turbo",
+        messages=messages
+    )
+
+    uav_response = response["choices"][0]["message"]["content"]
+    messages.append({"role": "assistant", "content": uav_response, "name": "Assistant"})
+
+    chat_transcript = ""
+    for message in messages:
+        if message['role'] != 'system':
+            chat_transcript += f"{message['name']}: {message['content']} \n\n"
+
+    return chat_transcript
+
+
+with gr.Blocks(theme='sudeepshouche/minimalist') as demo:
+    gr.Markdown("""
+    # Conversational UAV Explorer
+    Press record and speak into the microphone to give a command. Make sure to stop recording before pressing "Give Command."\n\n
+    Commands: Take picture, Go to, Land, Take off""")
+    with gr.Row().style():
+        audio_input = gr.Audio(source="microphone", type="filepath")
+        output = gr.Textbox(label="Transcript")
+    with gr.Row():
+        with gr.Column():
+            submit_btn = gr.Button("Give command", variant="primary")
+            submit_btn.click(fn=transcribe, inputs=audio_input, outputs=output, api_name="record")
+    with gr.Accordion("Examples:"):
+        gr.Markdown("Take a picture of the second floor of the green house.\n\n"
+                    "Go to the brick house across the street.\n\n"
+                    "Head to Libby Hill Park on E Franklin St.\n\n"
+                    "Check out the Whole Foods on W Broad St.\n\n"
+                    "Take off at your position.\n\n"
+                    "Land now.")
+
+demo.launch(share=True)

chatgpt4uavs.py

@@ -0,0 +1,63 @@
+# Necessary imports
+import os
+from langchain.llms import OpenAI
+from langchain.prompts import PromptTemplate
+from langchain.chains import LLMChain
+from langchain.chains import SimpleSequentialChain
+from prompts import prompt_transcribe, prompt_command
+
+# API Key
+os.environ["OPENAI_API_KEY"] = "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"
+
+# Initializing OpenAI as the large language model
+llm = OpenAI(temperature=0.0)
+
+
+def get_transcription(text):
+    # Transcription prompt
+    transcribe_prompt = PromptTemplate(
+        input_variables=["text"],
+        template=prompt_transcribe
+    )
+
+    # Creating transcription chain
+    sentence_chain = LLMChain(llm=llm,
+                              prompt=transcribe_prompt,
+                              output_key="sentence")
+
+    return sentence_chain
+
+
+# Method takes in the transcription chain to link them together with a sequential chain, which is then returned.
+def format_command(chain):
+    # Prompt Creation
+    command = PromptTemplate(
+        input_variables=["sentence"],
+        template=prompt_command
+    )
+
+    # Chain Creation
+    command_chain = LLMChain(llm=llm, prompt=command, output_key="output")
+
+    # Initializing chain needed to connect using the parameters
+    sentence_chain = chain
+
+    # Connecting the two created chains via the SimpleSequentialChain.
+    sentence_command_chain = SimpleSequentialChain(
+        chains=[sentence_chain, command_chain], verbose=True
+    )
+
+    # Returning the new combined chain
+    return sentence_command_chain
+
+def to_file(text):
+        f = open("commands.txt", "w")
+        f.write(text)
+        f.close()
+
+# Method to get the actual formatted command
+def get_command(text):
+    command = format_command(get_transcription(text))
+    to_file(command.run(text))
+    return command.run(text)
+

commands.txt

@@ -0,0 +1 @@
+ NONE

fewshot.py

@@ -0,0 +1,62 @@
+import os
+from langchain.llms import OpenAI
+from langchain.prompts import PromptTemplate
+from langchain.prompts.few_shot import FewShotPromptTemplate
+from langchain.chains import LLMChain
+from langchain.chains import SimpleSequentialChain
+from prompts import prompt_transcribe, prompt_command, examples_few_shot
+
+
+class FewShot4UAVs:
+
+    def __init__(self) -> None:
+        os.environ["OPENAI_API_KEY"] = "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"
+        self.llm = OpenAI(temperature=0.0)
+
+    def get_transcription(self, text):
+        transcribe_prompt = PromptTemplate(
+            input_variables=["text"],
+            template=prompt_transcribe
+        )
+
+        sentence_chain = LLMChain(llm=self.llm,
+                                  prompt=transcribe_prompt,
+                                  output_key="sentence")
+
+        return sentence_chain
+
+    def format_command(self, chain):
+        command = PromptTemplate(
+            input_variables=["sentence", "command"],
+            template="sentence: {sentence}\n{command}"
+        )
+
+        few_shot_prompt = FewShotPromptTemplate(
+            examples=examples_few_shot,
+            example_prompt=command,
+            suffix="sentence: {sentence}",
+            input_variables=["sentence"]
+        )
+
+        command_chain = LLMChain(llm=self.llm, prompt=few_shot_prompt, output_key="output")
+
+        sentence_chain = chain
+
+        sentence_command_chain = SimpleSequentialChain(
+            chains=[sentence_chain, command_chain], verbose=True
+        )
+
+        return sentence_command_chain
+
+    def to_file(self, text):
+        try:
+            with open("commands.txt", "w") as f:
+                f.write(text)
+                print("Command successfully written to the file.")
+        except Exception as e:
+            print(f"Error: {e}")
+
+    def get_command(self, text):
+        command = self.format_command(self.get_transcription(text))
+        self.to_file(command.run(text))
+        return command.run(text)

flagged/log.csv

@@ -0,0 +1,6 @@
+audio,output,flag,username,timestamp
+C:\Users\melos\OneDrive\Desktop\conversational_uav_explorer\flagged\audio\1b4e7759ac1ceebefc089ec30abaf61b720de43b\tmpgvgxcf4v.wav,"<p><strong>Operator</strong>: Go to the Kroger across the street.</p>
+<p><strong>UAV</strong>:
+GOTO    Kroger across the street</p>
+<p><strong>Assistant</strong>: Acknowledged. Proceeding to Kroger across the street.</p>
+",,,2023-07-22 03:55:53.983036

maps.py

@@ -0,0 +1,66 @@
+import googlemaps
+from datetime import datetime
+from pprint import pprint
+
+
+class AddressLocator:
+    def __init__(self):
+        self.maps = googlemaps.Client(key='AIzaSyAFUBwCyykt-8nfOYqGvUZbXV0dMnQYTJ4')
+
+    # Takes the name of a place and returns the exact address
+    def get_location(self, sentence):
+        sentence = sentence.lower()
+        commands = ["take picture", "go to", "land", "take off"]
+        for command in commands:
+            if command in sentence:
+                address_start_index = sentence.index(command) + len(command) + 1
+                address = sentence[address_start_index:].strip()
+                try:
+                    response = self.maps.places(query=address)
+                    results = response.get('results')
+                    if results:
+                        return results[0]['formatted_address']
+                    else:
+                        return None
+                except Exception as e:
+                    print(e)
+                    return None
+        return None
+
+    # Takes the name of a place and returns the route from one location to a single destination
+    def compute_route(self, uav_location, destination):
+        now = datetime.now()
+        directions_result = self.maps.directions(uav_location, destination,
+                                                 mode="driving",
+                                                 optimize_waypoints=True,
+                                                 departure_time=now
+                                                 )
+
+        directions = directions_result[0]['legs'][0]['steps']
+        instructions = [step['html_instructions'] for step in directions]
+        text_instructions = [self.strip_html_tags(instruction) for instruction in instructions]
+        return text_instructions
+
+    @staticmethod
+    def strip_html_tags(text):
+        import re
+        clean = re.compile('<.*?>')
+        return re.sub(clean, '', text)
+
+
+# Testing
+address_locator = AddressLocator()
+
+# Placeholder
+# uav_location = "Current location"
+
+loc = address_locator.get_location("Go to Chick-fil-a on W Broad St")
+print(loc)
+
+loc2 = address_locator.get_location("Go to Roots on W Grace St")
+print(loc2)
+
+res = address_locator.compute_route(loc, loc2)
+
+for direction in res:
+    print(direction)

prompts.py

@@ -0,0 +1,236 @@
+# Creating a Prompt and Chain with the transcription so it can be passed to the official Command Prompt via
+# Simple Sequential chain Transcription template
+prompt_transcribe = """You are to pass the audio transcription to the next
+chain. Do not alter the transcription in any way.
+
+Transcription: {text}
+"""
+
+# Prompt template
+prompt_command = """You are in control of an Unmanned Aerial Vehicle or UAV. 
+You are going to be given a sentence command, you need to find the action of 
+the sentence. The action will be, TAKEPICTURE, TAKEOFF, LAND or GOTO. If the 
+action is not one of those actions return "NONE". ONLY give those commands or 
+"NONE", NEVER anything else. If the action is "TAKEOFF", "LAND" or "NONE" you 
+don't need any further information for the location. If the action is "GOTO" or
+"TAKEPICTURE", you'll need to find where to carry out the action. If the action 
+is "GOTO" or "TAKEPICTURE" with no location following return "None".
+
+If you can't find the actions Take Picture, Take Off, Land, or Go To, return "NONE". 
+
+You need to return the command in this format: <command> \t<goal>
+
+However, if you get a sentence with multiple commands here is what you need to do:
+For example take the sentence, "Go to the Walmart in Petersburg and take a picture."
+The format of the command needs to be: <first command> \t<goal>\n\n<second command> \t<goal>
+
+Sentence: {sentence}
+"""
+
+prompt_chat_response = """You are an AI-powered chatbot integrated into a UAV
+(Unmanned Aerial Vehicle) system. Your purpose is to receive and execute
+commands from an officer. Your role is to understand and carry out these commands
+efficiently. You must acknowledge the command if you understand it. Use 2-3 
+sentences to respond to the officer's instructions, ask for clarification if 
+needed, and provide updates on the execution status of the given commands.
+"""
+
+# Creating examples for each command that the llm can use to help format our commands.
+# Also passing the transcription to the Command Prompt Template.
+examples_few_shot = [
+    # Location only
+    {
+        "sentence": "Kroger on N Lombardy St.",
+        "command": "command: GOTO \tKroger on N Lombardy St"""
+    },
+    {
+        "sentence": "CVS at Main St.",
+        "command": "command: GOTO \tCVS at Main St"""
+    },
+    {
+        "sentence": "Short Pump Town Center.",
+        "command": "command: GOTO \tShort Pump Town Center"""
+    },
+    {
+        "sentence": "Can Can Brasserie.",
+        "command": "command: GOTO \tCan Can Brasserie"""
+    },
+    {
+        "sentence": "Walgreens.",
+        "command": "command: GOTO \tWalgreens"""
+    },
+    {
+        "sentence": "Best Buy in Colonial Heights.",
+        "command": "command: GOTO \tBest Buy in Colonial Heights"""
+    },
+    {
+        "sentence": "The red house to the left.",
+        "command": "command: GOTO \tred house to the left"""
+    },
+    {
+        "sentence": "The Science Museum.",
+        "command": "command: GOTO \tScience Museum"""
+    },
+    {
+        "sentence": "South Park Mall.",
+        "command": "command: GOTO \tSouth Park Mall"""
+    },
+    # Commands that don't require a location
+    {
+        "sentence": "Take off now.",
+        "command": "command: TAKEOFF"""
+    },
+    {
+        "sentence": "Take off from where you are.",
+        "command": "command: TAKEOFF"
+    },
+    {
+        "sentence": "Take off.",
+        "command": "command: TAKEOFF"
+    },
+    {
+        "sentence": "Take off at your position.",
+        "command": "command: TAKEOFF"
+    },
+    {
+        "sentence": "Take off from where you are at.",
+        "command": "command: TAKEOFF"
+    },
+    {
+        "sentence": "Lift off.",
+        "command": "command: TAKEOFF"
+    },
+    {
+        "sentence": "Land now.",
+        "command": "command: LAND"
+    },
+    {
+        "sentence": "Cease flight.",
+        "command": "command: LAND"
+    },
+    {
+        "sentence": "Stop the flight.",
+        "command": "command: LAND"
+    },
+    {
+        "sentence": "Stop flying.",
+        "command": "command: LAND"""
+    },
+    {
+        "sentence": "Take flight.",
+        "command": "command: TAKEOFF"""
+    },
+    # Commands that require a location but don't have any
+    {
+        "sentence": "Take a pic.",
+        "command": "NONE"
+    },
+    {
+        "sentence": "Take a photo.",
+        "command": "NONE"
+    },
+    {
+        "sentence": "Snap a photo.",
+        "command": "NONE"
+    },
+    {
+        "sentence": "Snap a pic.",
+        "command": "NONE"
+    },
+    {
+        "sentence": "Proceed to.",
+        "command": "NONE"""
+    },
+    {
+        "sentence": "Push to.",
+        "command": "NONE"""
+    },
+    {
+        "sentence": "Advance to.",
+        "command": "NONE"""
+    },
+    {
+        "sentence": "Make your way to.",
+        "command": "NONE"""
+    },
+    {
+        "sentence": "Travel to.",
+        "command": "NONE"""
+    },
+    {
+        "sentence": "Go to.",
+        "command": "NONE"""
+    },
+    {
+        "sentence": "Take a picture.",
+        "command": "NONE"
+    },
+    {
+        "sentence": "Take a picture when you can please.",
+        "command": "NONE"
+    },
+    # Commands with one action and one location
+    {
+        "sentence": "Fly to the Sonic on West Cary St.",
+        "command": "command: GOTO \tSonic on West Cary St."
+    },
+    {
+        "sentence": "Check out the gym at Cary St.",
+        "command": "command: GOTO \tgym at Cary St"
+    },
+    {
+        "sentence": "Investigate the Rite Aid on Broad and Belevidere.",
+        "command": "command: GOTO \tRite Aid on Broad and Belevidere"
+    },
+    {
+        "sentence": "Go to Papa Johns at 1200 W Main St.",
+        "command": "command: GOTO \tPapa Johns at 1200 W Main St"""
+    },
+    {
+        "sentence": "Go to the orange house on W Grace St.",
+        "command": "command: GOTO \torange house on W Grace St"""
+    },
+    {
+        "sentence": "Travel to Cabell Library at VCU.",
+        "command": "command: GOTO \tCabell Library at VCU"""
+    },
+    # Commands with one action and one location but with extra words
+    {
+        "sentence": "Please check out the CVS on W Broad St.",
+        "command": "command: GOTO \tCVS on W Broad St"
+    },
+    # Commands with multiple actions
+    {
+        "sentence": "Go to the purple house on to the left and take a picture",
+        "command": "command: GOTO \tpurple house on to the left\ncommand: TAKEPICTURE \tpurple house on to the left"
+    },
+    {
+        "sentence": "Fly to Kroger on Iron Bridge and take a picure",
+        "command": "command: GOTO \tKroger on Iron Bridge\ncommand: TAKEPICTURE \tKroger on Iron Bridge"
+    },
+    {
+        "sentence": "Travel to the McDonalds on Route 1 and land",
+        "command": "command: GOTO \tMcDonalds on Route 1\ncommand: LAND"
+    },
+    {
+        "sentence": "Take off, go to the Walgreens on W Hundred Rd, then land",
+        "command": "command: TAKEOFF\ncommand: GOTO \tWalgreens on W Hundred Rd\ncommand: LAND"
+    },
+    # Commands with multiple actions and multiple locations
+    {
+        "sentence": "Take a picture of the light blue building on Harrowgate Road, then go to the Wawa on Route 1",
+        "command": "command: TAKEPICTURE \tlight blue building on Harrowgate Road\ncommand: GOTO \tWawa on Route 1"
+    },
+    {
+        "sentence": "Check out the yellow house on Clay St, then go to the Commons on W Main St",
+        "command": "command: GOTO \tyellow house on Clay St\ncommand: GOTO \tCommons on W Main St"
+    },
+    {
+        "sentence": "Investigate the 7/11 on W Grace St, then go to the Barnes and Noble on W Broad St, then take a picture of it.",
+        "command": "command: GOTO \t7/11 on W Grace St\ncommand: GOTO \tBarnes and Noble on W Broad S\ncommand: TAKEPICTURE \tBarnes and Noble on W Broad St"
+    },
+    {
+        "sentence": "Go to the grey one story flat on Happy Hill Rd, then go to the Food Lion on the same road, then take a picture of it.",
+        "command": "command: GOTO \tgrey one story flat on Happy Hill Rd\ncommand: GOTO \tFood Lion on Happy Hill Rd\ncommand: TAKEPICTURE \tFood Lion on Happy Hill Rd"
+    }
+]

rasa_bot/actions/actions.py

@@ -0,0 +1,61 @@
+# This files contains your custom actions which can be used to run
+# custom Python code.
+#
+# See this guide on how to implement these action:
+# https://rasa.com/docs/rasa/custom-actions
+
+
+
+import json
+from typing import Any, Text, Dict, List
+
+from rasa_sdk import Action, Tracker
+from rasa_sdk.executor import CollectingDispatcher
+from rasa_sdk.events import SlotSet
+
+class ActionGreetUser(Action):
+    def name(self) -> Text:
+        return "action_display_info"
+
+    async def run(
+        self,
+        dispatcher: CollectingDispatcher,
+        tracker: Tracker,
+        domain: Dict[Text, Any],
+    ):
+        s = []
+        for item in tracker.latest_message["entities"]:
+            n = {
+                "entity" : item["entity"],
+                "value" : item["value"]
+            }
+            s.append(n)
+        date_picker = {
+            "intent" : tracker.latest_message["intent"]["name"],
+            "slots" : s
+        }
+        dispatcher.utter_message(text = json.dumps(date_picker, sort_keys=True, indent=2, separators=(',', ': ')))
+
+        return []
+
+# class ActionExploreTrue(Action):
+#    def name(self) -> Text:
+#       return "action_explore_t"
+
+#    def run(self,
+#            dispatcher: CollectingDispatcher,
+#            tracker: Tracker,
+#            domain: Dict[Text, Any]) -> List[Dict[Text, Any]]:
+
+#       return [SlotSet("explore", True)]
+
+# class ActionExploreFalse(Action):
+#    def name(self) -> Text:
+#       return "action_explore_f"
+
+#    def run(self,
+#            dispatcher: CollectingDispatcher,
+#            tracker: Tracker,
+#            domain: Dict[Text, Any]) -> List[Dict[Text, Any]]:
+
+#       return [SlotSet("explore", None)]

rasa_bot/config.yml

@@ -0,0 +1,48 @@
+# The config recipe.
+# https://rasa.com/docs/rasa/model-configuration/
+recipe: default.v1
+
+# Configuration for Rasa NLU.
+# https://rasa.com/docs/rasa/nlu/components/
+language: en
+
+pipeline:
+# No configuration for the NLU pipeline was provided. The following default pipeline was used to train your model.
+# If you'd like to customize it, uncomment and adjust the pipeline.
+# See https://rasa.com/docs/rasa/tuning-your-model for more information.
+  - name: WhitespaceTokenizer
+  - name: RegexFeaturizer
+  - name: LexicalSyntacticFeaturizer
+  - name: CountVectorsFeaturizer
+  - name: CountVectorsFeaturizer
+    analyzer: char_wb
+    min_ngram: 1
+    max_ngram: 4
+  - name: KeywordIntentClassifier #added
+  - name: DIETClassifier
+    epochs: 100
+    constrain_similarities: true
+  - name: EntitySynonymMapper
+  - name: ResponseSelector
+    epochs: 100
+    constrain_similarities: true
+  - name: FallbackClassifier
+    threshold: 0.95
+#     threshold: 0.3
+#     ambiguity_threshold: 0.1
+
+# Configuration for Rasa Core.
+# https://rasa.com/docs/rasa/core/policies/
+policies:
+# # No configuration for policies was provided. The following default policies were used to train your model.
+# # If you'd like to customize them, uncomment and adjust the policies.
+# # See https://rasa.com/docs/rasa/policies for more information.
+#   - name: MemoizationPolicy
+#   - name: RulePolicy
+#   - name: UnexpecTEDIntentPolicy
+#     max_history: 5
+#     epochs: 100
+#   - name: TEDPolicy
+#     max_history: 5
+#     epochs: 100
+#     constrain_similarities: true

rasa_bot/credentials.yml

@@ -0,0 +1,33 @@
+# This file contains the credentials for the voice & chat platforms
+# which your bot is using.
+# https://rasa.com/docs/rasa/messaging-and-voice-channels
+
+rest:
+#  # you don't need to provide anything here - this channel doesn't
+#  # require any credentials
+
+
+#facebook:
+#  verify: "<verify>"
+#  secret: "<your secret>"
+#  page-access-token: "<your page access token>"
+
+#slack:
+#  slack_token: "<your slack token>"
+#  slack_channel: "<the slack channel>"
+#  slack_signing_secret: "<your slack signing secret>"
+
+socketio:
+  user_message_evt: user_uttered
+  bot_message_evt: bot_uttered
+  session_persistence: false
+
+#mattermost:
+#  url: "https://<mattermost instance>/api/v4"
+#  token: "<bot token>"
+#  webhook_url: "<callback URL>"
+
+# This entry is needed if you are using Rasa Enterprise. The entry represents credentials
+# for the Rasa Enterprise "channel", i.e. Talk to your bot and Share with guest testers.
+rasa:
+  url: "http://localhost:5002/api"

rasa_bot/data/nlu.yml

@@ -0,0 +1,100 @@
+nlu:
+- intent: greet
+  examples: |
+    - start
+    - hi
+    - hello
+
+- intent: explore
+  examples: |
+    - Can you explore the [second floor](location) of the [green house](building)?
+    - Look around the [top floor](location) of the [house at 601 W Main St](building).
+    - Go and look inside the [attic](location) of the [large house across the street](building).
+    - Explore the [back](location) of the [five story building](building).
+    - Go to the [ground floor](location) of the [red building](building).
+    - Move to the [white house](building).
+    - Move to the [bottom](location) of the [white house](building).
+    - Move to the [house at 25232 N Washington Dr](building).
+    - Explore the [front](location) of the [house on 43143 Brookside Pl](building).
+    - Explore the [west side](location) of the [house](building).
+    - Explore the [east side](location) of the [big yellow building](building).
+
+- intent: take_picture
+  examples: |
+    - Take a [picture](picture_type).
+    - Take a [picture](picture_type) inside the [nearby blue house](location).
+    - Take [several pictures](picture_type) of the location.
+    - Take a [picture](picture_type) of the [third floor of the blue house](location).
+    - Take a [picture](picture_type) of the [front of the house](location).
+    - Take a [picture](picture_type) of the [west side of the red building](location).
+
+- intent: monitor
+  examples: |
+    - Monitor the house at the [NE corner of the intersection of Main and Cary](location).
+    - Watch for activity at the [orange house](location). 
+    - Monitor the [orange house](location).
+    - Monitor this location.
+
+- intent: move/stop
+  examples: |
+    - stop the drone
+    - stop flight
+    - stop activity
+    - stop
+
+- intent: move/land
+  examples: |
+    - land the drone
+    - land here
+    - something land something
+    - land at nearest location
+
+- intent: move/come_back
+  examples: |
+    - return to home
+    - return to base
+    - come back to home
+    - come back to base
+    - come back to headquarters
+    - return to headquarters
+
+- intent: move/left
+  examples: |
+    - move left
+    - fly to the left
+    - move to the left
+    - left
+
+- intent: move/right
+  examples: |
+    - move right
+    - fly to the right
+    - move to the right
+    - right
+
+- intent: move/up
+  examples: |
+    - move up
+    - fly up
+    - fly upwards
+    - up
+    - upwards
+
+- intent: move/down
+  examples: |
+    - move down
+    - fly down
+    - fly downwards
+    - down
+    - downwards
+
+- intent: move/get_closer
+  examples: |
+    - move closer
+    - fly closer
+    - get closer
+    - closer
+
+
+#use localhost:5005/webhooks/rest/webhook for talking to bot using REST
+#curl -X POST localhost:5005/webhooks/rest/webhook -H "Content-type:application/json" -d "{\"sender\": \"test_user\", \"message\": \"Hi\"}"

rasa_bot/data/rules.yml

@@ -0,0 +1,39 @@
+rules:
+
+- rule: START
+  steps:
+  - intent: greet
+  - action: utter_greet
+
+- rule: EXPLORE
+  steps:
+  - intent: explore
+  - action: utter_explore
+  - action: action_display_info
+  - action: action_restart
+
+- rule: TAKE PICTURE
+  steps:
+  - intent: take_picture
+  - action: utter_picture
+  - action: action_display_info
+  - action: action_restart
+
+- rule: MONITOR
+  steps:
+  - intent: monitor
+  - action: utter_monitor
+  - action: action_display_info
+  - action: action_restart
+
+- rule: respond to safety/feedback request
+  steps:
+  - intent: move
+  - action: utter_move
+  - action: action_display_info
+  - action: action_restart
+
+- rule: Ask the user to rephrase whenever they send a message with low NLU confidence
+  steps:
+  - intent: nlu_fallback
+  - action: utter_please_rephrase

rasa_bot/data/stories.yml

@@ -0,0 +1,2 @@
+
+

rasa_bot/domain.yml

@@ -0,0 +1,89 @@
+entities:
+  - building
+  - location
+  - picture_type
+
+slots:
+  location:
+    type: text
+    influence_conversation: false
+    mappings:
+    - type: from_entity
+      entity: location
+  building:
+    type: text
+    influence_conversation: false
+    mappings:
+    - type: from_entity
+      entity: building
+  picture_type:
+    type: text
+    influence_conversation: false
+    mappings:
+    - type: from_entity
+      entity: picture_type
+
+
+intents:
+  - explore
+  - goodbye
+  - greet
+  - take_picture
+  - monitor
+  - move
+
+
+responses:
+  utter_greet:
+  - text: "Enter instruction"
+  utter_explore:
+  - condition: 
+    - type: slot
+      name: location
+      value: null
+    text: "Exploring the {building}"
+  - condition: 
+    - type: slot
+      name: building
+      value: null
+    text: "Exploring the {location}"
+  - text: "Exploring the {location} of the {building}."
+  utter_picture:
+  - condition: 
+    - type: slot
+      name: location
+      value: null
+    text: "Taking {picture_type}"
+  - text: "Taking {picture_type} of {location}"
+  utter_monitor:
+  - condition: 
+    - type: slot
+      name: location
+      value: null
+    text: "Monitoring the location"
+  - text: "Monitoring the {location}"
+  utter_move/stop:
+  - text: "Stopping"
+  utter_move/land:
+  - text: "Landing"
+  utter_move/come_back:
+  - text: "Returning"
+  utter_move/left:
+  - text: "Moving left"
+  utter_move/right:
+  - text: "Moving right"
+  utter_move/up:
+  - text: "Moving up"
+  utter_move/down:
+  - text: "Moving down"
+  utter_move/get_closer:
+  - text: "Moving closer"
+  utter_please_rephrase:
+  - text: "Could not verify intent, please try again"
+
+actions:
+  - action_display_info
+
+session_config:
+  session_expiration_time: 60
+  carry_over_slots_to_new_session: false

rasa_bot/endpoints.yml

@@ -0,0 +1,42 @@
+# This file contains the different endpoints your bot can use.
+
+# Server where the models are pulled from.
+# https://rasa.com/docs/rasa/model-storage#fetching-models-from-a-server
+
+#models:
+#  url: http://my-server.com/models/default_core@latest
+#  wait_time_between_pulls:  10   # [optional](default: 100)
+
+# Server which runs your custom actions.
+# https://rasa.com/docs/rasa/custom-actions
+
+action_endpoint:
+ url: "http://localhost:5055/webhook"
+
+# Tracker store which is used to store the conversations.
+# By default the conversations are stored in memory.
+# https://rasa.com/docs/rasa/tracker-stores
+
+#tracker_store:
+#    type: redis
+#    url: <host of the redis instance, e.g. localhost>
+#    port: <port of your redis instance, usually 6379>
+#    db: <number of your database within redis, e.g. 0>
+#    password: <password used for authentication>
+#    use_ssl: <whether or not the communication is encrypted, default false>
+
+#tracker_store:
+#    type: mongod
+#    url: <url to your mongo instance, e.g. mongodb://localhost:27017>
+#    db: <name of the db within your mongo instance, e.g. rasa>
+#    username: <username used for authentication>
+#    password: <password used for authentication>
+
+# Event broker which all conversation events should be streamed to.
+# https://rasa.com/docs/rasa/event-brokers
+
+#event_broker:
+#  url: localhost
+#  username: username
+#  password: password
+#  queue: queue

rasa_bot/index.html

@@ -0,0 +1,2 @@
+<div id="rasa-chat-widget" data-websocket-url="http://104.131.188.205:5005/" data-width=1200 data-default-open=true data-initial-payload="Start"></div>
+<script src="https://unpkg.com/@rasahq/rasa-chat" type="application/javascript"></script>

rasa_bot/tests/test_stories.yml

@@ -0,0 +1,91 @@
+#### This file contains tests to evaluate that your bot behaves as expected.
+#### If you want to learn more, please see the docs: https://rasa.com/docs/rasa/testing-your-assistant
+
+stories:
+- story: happy path 1
+  steps:
+  - user: |
+      hello there!
+    intent: greet
+  - action: utter_greet
+  - user: |
+      amazing
+    intent: mood_great
+  - action: utter_happy
+
+- story: happy path 2
+  steps:
+  - user: |
+      hello there!
+    intent: greet
+  - action: utter_greet
+  - user: |
+      amazing
+    intent: mood_great
+  - action: utter_happy
+  - user: |
+      bye-bye!
+    intent: goodbye
+  - action: utter_goodbye
+
+- story: sad path 1
+  steps:
+  - user: |
+      hello
+    intent: greet
+  - action: utter_greet
+  - user: |
+      not good
+    intent: mood_unhappy
+  - action: utter_cheer_up
+  - action: utter_did_that_help
+  - user: |
+      yes
+    intent: affirm
+  - action: utter_happy
+
+- story: sad path 2
+  steps:
+  - user: |
+      hello
+    intent: greet
+  - action: utter_greet
+  - user: |
+      not good
+    intent: mood_unhappy
+  - action: utter_cheer_up
+  - action: utter_did_that_help
+  - user: |
+      not really
+    intent: deny
+  - action: utter_goodbye
+
+- story: sad path 3
+  steps:
+  - user: |
+      hi
+    intent: greet
+  - action: utter_greet
+  - user: |
+      very terrible
+    intent: mood_unhappy
+  - action: utter_cheer_up
+  - action: utter_did_that_help
+  - user: |
+      no
+    intent: deny
+  - action: utter_goodbye
+
+- story: say goodbye
+  steps:
+  - user: |
+      bye-bye!
+    intent: goodbye
+  - action: utter_goodbye
+
+- story: bot challenge
+  steps:
+  - user: |
+      are you a bot?
+    intent: bot_challenge
+  - action: utter_iamabot

test/.pytest_cache/.gitignore

@@ -0,0 +1,2 @@
+# Created by pytest automatically.
+*

test/.pytest_cache/CACHEDIR.TAG

@@ -0,0 +1,4 @@
+Signature: 8a477f597d28d172789f06886806bc55
+# This file is a cache directory tag created by pytest.
+# For information about cache directory tags, see:
+#	https://bford.info/cachedir/spec.html

test/.pytest_cache/README.md

@@ -0,0 +1,8 @@
+# pytest cache directory #
+
+This directory contains data from the pytest's cache plugin,
+which provides the `--lf` and `--ff` options, as well as the `cache` fixture.
+
+**Do not** commit this to version control.
+
+See [the docs](https://docs.pytest.org/en/stable/how-to/cache.html) for more information.

test/.pytest_cache/v/cache/lastfailed

@@ -0,0 +1,23 @@
+{
+  "test_chatgpt4uavs.py::test_red_house": true,
+  "test_chatgpt4uavs.py::test_take_off": true,
+  "test_chatgpt4uavs.py::test_land": true,
+  "test_chatgpt4uavs.py::test_picture": true,
+  "test_chatgpt4uavs.py::test_snap_pic": true,
+  "test_chatgpt4uavs.py::test_purple_house": true,
+  "test_chatgpt4uavs.py::test_parking_garage": true,
+  "test_chatgpt4uavs.py::test_gym": true,
+  "test_chatgpt4uavs.py::test_cease_flight": true,
+  "test_chatgpt4uavs.py::test_stop_flight": true,
+  "test_chatgpt4uavs.py::test_lift_off": true,
+  "test_chatgpt4uavs.py::test_no_location1": true,
+  "test_chatgpt4uavs.py::test_no_location2": true,
+  "test_chatgpt4uavs.py::test_no_location3": true,
+  "test_fewshot.py::test_stop_flight1": true,
+  "test_fewshot.py::test_invalid_command2": true,
+  "test_fewshot.py::test_location_no_action4": true,
+  "test_fewshot.py::test_action_and_location_synonyms": true,
+  "test_fewshot.py::test_action_synonyms": true,
+  "test_fewshot.py::test_action_and_location": true,
+  "test_fewshot.py::test_multiple_actions": true
+}

test/.pytest_cache/v/cache/nodeids

@@ -0,0 +1,56 @@
+[
+  "test_chatgpt4uavs.py::test_cease_flight",
+  "test_chatgpt4uavs.py::test_gym",
+  "test_chatgpt4uavs.py::test_land",
+  "test_chatgpt4uavs.py::test_lift_off",
+  "test_chatgpt4uavs.py::test_no_location1",
+  "test_chatgpt4uavs.py::test_no_location2",
+  "test_chatgpt4uavs.py::test_no_location3",
+  "test_chatgpt4uavs.py::test_parking_garage",
+  "test_chatgpt4uavs.py::test_picture",
+  "test_chatgpt4uavs.py::test_purple_house",
+  "test_chatgpt4uavs.py::test_red_house",
+  "test_chatgpt4uavs.py::test_snap_pic",
+  "test_chatgpt4uavs.py::test_stop_flight",
+  "test_chatgpt4uavs.py::test_take_off",
+  "test_fewshot.py::test_action_and_location",
+  "test_fewshot.py::test_action_and_location_synonyms",
+  "test_fewshot.py::test_action_synonyms",
+  "test_fewshot.py::test_cease_flight",
+  "test_fewshot.py::test_empty_input",
+  "test_fewshot.py::test_gym",
+  "test_fewshot.py::test_invalid_command",
+  "test_fewshot.py::test_invalid_command1",
+  "test_fewshot.py::test_invalid_command2",
+  "test_fewshot.py::test_land",
+  "test_fewshot.py::test_lift_off",
+  "test_fewshot.py::test_location_no_action",
+  "test_fewshot.py::test_location_no_action2",
+  "test_fewshot.py::test_location_no_action3",
+  "test_fewshot.py::test_location_no_action4",
+  "test_fewshot.py::test_multiple_actions",
+  "test_fewshot.py::test_multiple_actions1",
+  "test_fewshot.py::test_multiple_actions2",
+  "test_fewshot.py::test_multiple_actions3",
+  "test_fewshot.py::test_multiple_actions4",
+  "test_fewshot.py::test_multiple_actions5",
+  "test_fewshot.py::test_multiple_actions_and_locations",
+  "test_fewshot.py::test_multiple_actions_and_locations1",
+  "test_fewshot.py::test_multiple_actions_and_locations2",
+  "test_fewshot.py::test_no_location1",
+  "test_fewshot.py::test_no_location2",
+  "test_fewshot.py::test_no_location3",
+  "test_fewshot.py::test_no_location4",
+  "test_fewshot.py::test_parking_garage",
+  "test_fewshot.py::test_picture",
+  "test_fewshot.py::test_purple_house",
+  "test_fewshot.py::test_red_house",
+  "test_fewshot.py::test_snap_pic",
+  "test_fewshot.py::test_stop_flight",
+  "test_fewshot.py::test_stop_flight1",
+  "test_fewshot.py::test_take_off",
+  "test_fewshot.py::test_take_off_synonym",
+  "test_fewshot.py::test_two_go_to",
+  "test_fewshot.py::test_with_extra_words",
+  "test_fewshot.py::test_with_extra_words2"
+]

test/.pytest_cache/v/cache/stepwise

@@ -0,0 +1 @@
+[]

test/commands.txt

@@ -0,0 +1,3 @@
+
+command: GOTO 	park
+command: TAKEPICTURE 	red house

test/test_chatgpt4uavs.py

@@ -0,0 +1,95 @@
+import pytest
+import re
+from chatgpt4uavs import get_command
+
+
+# format: command: <command> \t<goal>
+def parse_command(text):
+    tokens = re.split(' \t|\n|: ', text.lower())
+    print(tokens)
+    assert tokens[1] == 'command'
+    return tokens[2]
+
+def test_red_house():
+    text = "Go to the red house on W Broad St."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "go to"
+
+def test_take_off():
+    text = "Take off from where you are."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "take off"
+
+def test_land():
+    text = "Land now."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+def test_picture():
+    text = "Take a picture."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "take picture"
+
+def test_snap_pic():
+    text = "Snap a photo."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "take picture"
+
+def test_purple_house():
+    text = "Travel to the purple house on the left side."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "go to"
+
+def test_parking_garage():
+    text = "Fly to the parking garage across the street."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "go to"
+
+def test_gym():
+    text = "Check out the Cary St Gym."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "go to"
+
+def test_cease_flight():
+    text = "Cease flight."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+def test_stop_flight():
+    text = "Stop the flight."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+def test_lift_off():
+    text = "Lift off."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "take off"
+
+def test_no_location1():
+    text = "Check out."
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+def test_no_location2():
+    text = "Go to"
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+def test_no_location3():
+    text = "Travel to"
+    output = get_command(text)
+    command = parse_command(output)
+    assert command == "None"

test/test_fewshot.py

@@ -0,0 +1,221 @@
+import pytest
+import re
+from fewshot import FewShot4UAVs
+
+@pytest.fixture
+def fewshot():
+    return FewShot4UAVs()
+
+# format: <command> \t<goal>
+
+# For testing sentences with one action
+def parse_command(text):
+    tokens = re.split(' \t|\n|: ', text.lower())
+    print(tokens)
+    if len(tokens) >= 2 and tokens[1] == 'command':
+        return tokens[2]
+    else:
+        return 'None'
+
+# For testing sentences with multiple actions
+def parse_multiple_commands(text):
+    text = text.lstrip('\n')
+    lines = text.split("\n")
+    first_action = lines[0].split()[1].lower()
+    second_action = lines[1].split()[1].lower()
+    return first_action, second_action
+
+def test_red_house(fewshot):
+    text = "Go to the red house on W Broad St."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+def test_take_off(fewshot):
+    text = "Take off from where you are."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "takeoff"
+
+
+def test_land(fewshot):
+    text = "Land now."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+
+def test_picture(fewshot):
+    text = "Take a picture."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+# Testing actions using synonyms
+def test_take_off_synonym(fewshot):
+    text = "Lift off."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "takeoff"
+
+def test_snap_pic(fewshot):
+    text = "Snap a photo."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+
+def test_purple_house(fewshot):
+    text = "Travel to the purple house on the left side."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_parking_garage(fewshot):
+    text = "Fly to the parking garage across the street."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_gym(fewshot):
+    text = "Check out the Cary St Gym."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_cease_flight(fewshot):
+    text = "Cease flight."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+
+def test_stop_flight(fewshot):
+    text = "Stop the flight."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+# Testing actions with no location
+def test_no_location1(fewshot):
+    text = "Check out."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+
+def test_no_location2(fewshot):
+    text = "Go to."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+
+def test_no_location3(fewshot):
+    text = "Travel to."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+
+def test_no_location4(fewshot):
+    text = "Head to."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+
+# Testing invalid commands
+def test_empty_input(fewshot):
+    text = ""
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+
+def test_invalid_command(fewshot):
+    text = "Do something."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "None"
+
+# Testing locations with no action specifically stated
+def test_location_no_action(fewshot):
+    text = "Willow Lawn."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_location_no_action2(fewshot):
+    text = "Whole Foods on W Broad St."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_location_no_action3(fewshot):
+    text = "Starbucks at N Robinson St."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+# Testing with filler words
+def test_with_extra_words(fewshot):
+    text = "Please go to the Whole Foods on W Broad St."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+def test_with_extra_words2(fewshot):
+    text = "Go to the Whole Foods on W Broad St please."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+# Testing multiple actions at the same location
+def test_multiple_actions1(fewshot):
+    text = "Check out the Starbucks and then land."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ("goto", "land")
+
+def test_multiple_actions2(fewshot):
+    text = "Take a picture of the green shed and then take off."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ("takepicture", "takeoff")
+
+def test_multiple_actions3(fewshot):
+    text = "Go to the park and take a picture."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ("goto", "takepicture")
+
+def test_multiple_actions4(fewshot):
+    text = "Take a photo and then land."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ("takepicture", "land")
+
+def test_multiple_actions5(fewshot):
+    text = "Rise and then take a photo."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ("takeoff", "takepicture")
+
+# Testing multiple actions with different locations
+def test_multiple_actions_and_locations1(fewshot):
+    text = "Go to the maroon shack on Osborn Rd and then take a picture of Thomas Dale High School."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ("goto", "takepicture")
+
+def test_multiple_actions_and_locations2(fewshot):
+    text = "Travel to the park and take a picture of the red house."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ("goto", "takepicture")