def sample_valid_questions(self, iterations=50):
"""Sample valid questions for the current scene content."""
current_graph = self.scene_graph
all_q = []
for _ in range(iterations):
new_graph = gs.randomly_perturb_objects(self.scene_struct,
current_graph)
self.scene_struct['objects'] = new_graph
self.scene_struct['relationships'] = gs.compute_relationship(
self.scene_struct)
self._update_description()
all_q += self.full_descriptions
for q in all_q:
for node in q['program']:
if '_output' in node:
del node['_output']
# get question that are unique and can be satisfied
unique_and_feasible = {}
for q in all_q:
q_is_unique = repr(q['program']) not in unique_and_feasible
if q['answer'] is True and q_is_unique:
unique_and_feasible[repr(q['program'])] = q
valid_q = []
for q in unique_and_feasible:
valid_q.append((unique_and_feasible[q]['question'],
unique_and_feasible[q]['program']))
self.scene_struct['objects'] = current_graph
self.scene_struct['relationships'] = gs.compute_relationship(
self.scene_struct)
return valid_q
def _update_scene(self):
"""Update the scene description of the current scene."""
self.previous_scene_graph = self.scene_graph
for i, name in enumerate(self.obj_name):
self.scene_graph[i]['3d_coords'] = tuple(self.get_body_com(name))
self.scene_struct['objects'] = self.scene_graph
self.scene_struct['relationships'] = gs.compute_relationship(
self.scene_struct, use_polar=self.use_polar)
def reset(self, new_scene_content=True):
"""Reset with a random configuration."""
if new_scene_content or not self.variable_scene_content:
# sample a random scene and struct
self.scene_graph, self.scene_struct = self.sample_random_scene()
else:
# randomly perturb existing objects in the scene
new_graph = gs.randomly_perturb_objects(self.scene_struct,
self.scene_graph)
self.scene_graph = new_graph
self.scene_struct['objects'] = self.scene_graph
self.scene_struct['relationships'] = gs.compute_relationship(
self.scene_struct)
# Generate initial set of description from the scene graph.
self.descriptions, self.full_descriptions = None, None
self._update_description()
self.curr_step = 0
if not self.random_start:
curr_scene_xml = convert_scene_to_xml(
self.scene_graph,
agent=self.agent_type,
checker_board=self.checker_board)
else:
random_loc = '{} {} -0.2'.format(random.uniform(-0.6, 0.6),
random.uniform(-0.3, 0.5))
curr_scene_xml = convert_scene_to_xml(
self.scene_graph,
agent=self.agent_type,
agent_start_loc=random_loc,
checker_board=self.checker_board)
self.load_xml_string(curr_scene_xml)
if self.variable_scene_content and self.cache_valid_questions and new_scene_content:
self.valid_questions = self.sample_valid_questions(100)
if len(self.valid_questions) < 5:
print('rerunning reset because valid question count is small')
return self.reset(True)
self.current_goal_text, self.current_goal = self.sample_goal()
self._update_object_description()
return self.get_obs()