AnomalyGen

Installation

1.Clone this repository

git clone https://github.com/ZiruiSongBest/AnomalyGen.git

2.Set up the environment

conda env create -f environment.yaml
pip install ompl-1.6.0-cp39-cp39-manylinux_2_28_x86_64.whl

3.Download the Dataset
We provide a parsed version dataset based on PartNet-Mobility
Please download and unzip it in the data folder

We also provide the embeddings here. After downloading, unzip and put it under objaverse_utils/data/ folder

Run

Put your OpenAI API key in the Go.sh file.
1.Generate the task
This script will initiate the brainstorming process to generate task instructions using GPT-4.

source Go.sh
python gpt_4\prompts\prompt_brainstorming.py

2.Excute the task
After generating the tasks, navigate to the data/generated_task folder. You will see folders named in the time_object format, such as 10-13-22-01-31_Refrigerator. Inside, there are two sets of YAML files. One set starts with The_robotic_arm_will, which contains the configuration files for distractors in the room. The other set is the execution files we need, named according to the task descriptions.
To excute the task

python execute.py --task_config_path The_path_to_the_Task_description_YAML_Not_begin_with_"The_robotic_arm_will"

Or you can run this command for a better result.

python execute_long_horizon.py --task_config_path The_path_to_the_Task_description_YAML_Not_begin_with_"The_robotic_arm_will"