update navigation prompt (2483ba01) · Commits · 张泽凯 / VAGEN

vagen/env/navigation/env.py

+5 −2

Original line number	Diff line number	Diff line
		@@ -173,6 +173,7 @@ class NavigationEnv(BaseEnv):
		self.img_paths = []
		self.total_reward = 0


		return self._render(init_obs=True), {}

		def step(self, action_str: str):
		@@ -322,14 +323,16 @@ class NavigationEnv(BaseEnv):
		# Format the template
		if init_obs:
		obs_str = init_observation_template.format(
		observation=img_placeholder
		observation=img_placeholder,
		instruction=self.episode_language_instruction,
		)
		else:
		obs_str = action_template.format(
		valid_action=self.valid_actions,
		observation=img_placeholder,
		reward=self.reward,
		done=self.measure_success()[0]
		done=self.measure_success()[0],
		instruction=self.episode_language_instruction,
		)

		return {

vagen/env/navigation/prompt.py

+7 −1

Original line number	Diff line number	Diff line
		@@ -20,13 +20,17 @@ Format correct: +0.5
		Achieve the human instruction: +10.0

		Please think step by step and provide the actions you want to take.

		You can provide a list of actions, separated by commas. For example: moveahead, moveright, rotateright.
		Your reponse should be in the format of <think>...</think><answer>...</answer>
		e.g.
		<think>I can see from the sight the target object is right in the top left of me, I will move forward, then move left to access it.</think><answer>moveahead, moveahead,moveahead,moveahead,moveahead,moveleft,moveleft</answer>
		"""

		system_prompt_vision = """You are a home robot and perform navigation tasks according to instructions.

		Navigation Guide
		Goal: Achieve the human instruction
		You should follow the human instruction and navigate to the target location.

		Actions you can take: moveahead, moveback, moveright, moveleft, rotateright, rotateleft, lookup, lookdown.
		You can take up to {max_actions_per_step} action(s) at a time.
		@@ -50,6 +54,7 @@ The instruction will be provided with each observation. Look at the image carefu
		init_observation_template = """
		[Initial Observation]:
		{observation}
		Human Instruction: {instruction}
		Decide your next action(s).
		Your reponse should be in the format of <think>...</think><answer>...</answer>
		"""
		@@ -59,6 +64,7 @@ After that, the observation is:
		{observation}
		reward: {reward}
		done: {done}
		Human Instruction: {instruction}
		Decide your next action(s).
		Your reponse should be in the format of <think>...</think><answer>...</answer>
		"""
		No newline at end of file

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