activelkp.blogg.se

migrated the kitchen.isis into an “scene initialization” section of the “scenario/” files.

tasks have goal states which check for whether the goal state is met.

scenario files allow defaults to be specified as keyword arguments.

properties of IsisObjects can be defined with IsisAttribute with consistency checks.

Objects like the toaster, have is_open as a hidden property, that is turned to False iff the toaster is_on. If it is not, then the pickup action fails. in isis_agent:pick_object_up_with, special handling for objects on surfaces and objects in containers: Items being removed from containers first have their parent checked to see if is_open is True.

specifying scale ranges for some of the common models sizes, the same way the size of the kitchen is chosen from a random range.

Default objects with commonsense behaviors We are continuing to add new objects, actions and events to the environment.

Custom callbacks and triggers can be defined.

Rigid-body physics simulation: Objects’ position and orientation can be controlled by the Open Dynamics Engine: an object location is a function of its mass, and linear and angular forces (including gravity).

Other than XML-RPC, no additional libraries are required.

Client-server architecture The agents in the simulator can be controlled by a client.

Environments are generated from a specification file according to commonsense defaults Environment descriptions are procedurally generated: the sizes and orientation of the kitchen are determined each time the environment is generated as an effort to prevent AI systems from “overfitting” the task.

A scenario defines the default 3D environment and contains tasks with training settings and goal functions.

Task evaluation framework is built-in It’s easy to write scenario templates and create custom evaluation scenarios.

The rest of the project is covered by the GPLv3. The Panda3D libraries and the ODE framework are covered by the BSD 3-clause license.

Source code and binaries are freely available for download and distribution All source code is immediately available and binaries for most common platforms are available for download.

IsisWorld was created to as evaluation platform for evaluating and observing the behavior of commonsense reasoning systems. IsisWorld is a highly-customizable open source kitchen simulator written in the Python language.