You are a robot (R) collaborating with a human (H) on a task. Please output a program to act based on the human dialog and plan tree. Here are some examples. Example 1: Dialog History: - R: "Can you open the package?" - H: "Can't do it myself. I will bring the knife, and you can use it to open the package." - H: "Also, can you pour the package contents into the plate?" - H: "I was unable to perform the task." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 1 Current low-level step index: 2 Response: ``` # H initiated a new dialog topic that proposes to split the current abstract task. # H also initiated dialog proposing to allocate a future abstract step in the plan to me (robot). H_init_dialog = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking human to do a single abstract (high-level) step # of opening the package (abstr step 1), which encompasses all low-level steps underneath. last_R_dialog_type_idx = 0 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # H couldn't do the step requested by the robot to open the package. H_not_finished_prev_helpreq = True # See if we can split the current abstract node since H can't do it. try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Compute best plan without human initiated dialog first. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # since H_init_dialog is true, we need to handle it with 3 steps. # First we need to build tag_name_to_dialog_map. # We go through each sentence of H-initiated dialog and classify it into the two types: # ["allocate", "split_proposal"] tag_name_to_dialog_map = {} tag_name_to_dialog_map["allocate"] = ['Also, can you pour the package contents into the plate?'] tag_name_to_dialog_map["split_proposal"] = ["Can't do it myself. I will bring the knife, and you can use it to open the package."] parse_info = {} # Human initiated task allocation dialog about abstract step 2 (pour package into plate) parse_info["task_alloc_abstr_ts"] = 2 # We are currently on abstract step 1, low-level step 2 of the plan tree. # This means there are 3 low-level steps left to do, so our constraint list must be length 3. # Human-initiated task allocation dialog was asking me, robot (agent 0), to pour the package contents into the plate. # This is abstract step 2, which consists of a single low-level step (low step 4, the last one). # Thus, index -1 of the list should be 0. # All other indices should be None since other low-level steps were not allocated to either agent. parse_info["task_alloc_constraints"] = [None, None, 0] # Human initiated split proposal about abstract step 1 (open package). parse_info["split_proposal_abstr_ts"] = 1 # We are currently on abstract step 1, low-level step 2 of the plan tree. # So there are 3 low-level steps left to do. Our parse_info constraints must be lists of length 3. # Human-initiated split proposal dialog was for human (agent 1) to perform 3rd to last low-level step (low step 2) of bringing the knife, # while I, robot (agent 0), would perform 2nd to last low-level step (low step 3) of opening the package with the knife. # All other elements in the list should be kept as None since they were not allocated to either agent. parse_info["split_proposal_constraints"] = [1, 0, None] # Since we have lo_alloc_by_abstr_step defined already, we can parse human-initiated dialog by category. # So the second step is handling human-initiated dialog to get a new plan constraint and R dialog response. # r_dialog_act has been defined already, outside of this snippet. plan_variant_constraint, reassigns_by_feas_map = h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) var_vals_str = get_var_vals_as_str() r_dialog_act = respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) # Third, we recompute allocation since best plan variant may have been updated after handling H-initiated dialog. abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 2: Dialog History: - R: "Can you bring the plate and package?" - H: "Can't do it myself. I'll bring the package, and you can bring the plate. I'll pour the package contents into the plate later." - H: "I was unable to perform the task." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 0 Response: ``` # H initiated a new dialog topic that proposes to split the current abstract task. # H also initiated dialog proposing to allocate a future abstract step in the plan to me (robot). H_init_dialog = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking human to do a single abstract (high-level) step # of opening the package (abstr step 1), which encompasses all low-level steps underneath. last_R_dialog_type_idx = 0 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # H couldn't do the step requested by the robot to open the package. H_not_finished_prev_helpreq = True # See if we can split the current abstract node since H can't do it. try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Compute best plan without human initiated dialog first. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # since H_init_dialog is true, we need to handle it with 3 steps. # First we need to build tag_name_to_dialog_map. # We go through each sentence of H-initiated dialog and classify it into the two types: # ["allocate", "split_proposal"] tag_name_to_dialog_map = {} tag_name_to_dialog_map["allocate"] = ["I'll pour the package contents into the plate later."] tag_name_to_dialog_map["split_proposal"] = ["Can't do it myself. I'll bring the package, and you can bring the plate."] parse_info = {} # Human initiated task allocation dialog about abstract step 2 (pour package into plate) parse_info["task_alloc_abstr_ts"] = 2 # We are currently on abstract step 0, low-level step 0 of the plan tree. # This means there are 5 low-level steps left to do, so our constraint list must be length 5. # Human-initiated task allocation dialog was offering themself (human, agent 1) to pour the package contents into the plate. # This is abstract step 2, which consists of a single low-level step (low step 4, the last one). # Thus, index -1 of the list should be 1. # All other indices should be None since other low-level steps were not allocated to either agent. parse_info["task_alloc_constraints"] = [None, None, None, None, 1] # Human initiated split proposal about abstract step 0 (bring package and plate). parse_info["split_proposal_abstr_ts"] = 0 # We are currently on abstract step 0, low-level step 0 of the plan tree. # So there are 5 low-level steps left to do. Our parse_info constraints must be lists of length 5. # Human-initiated split proposal dialog was for human (agent 1) to perform 4th to last low-level step (low step 1) of bringing the package, # while I, robot (agent 0), would perform 5th to last low-level step (low step 0) of bringing the plate. # Thus, list index -4 should be 1 and list index -5 should be 0. # All other elements in the list should be kept as None since they were not allocated to either agent. parse_info["split_proposal_constraints"] = [0, 1, None, None, None] # Since we have lo_alloc_by_abstr_step defined already, we can parse human-initiated dialog by category. # So the second step is handling human-initiated dialog to get a new plan constraint and R dialog response. # r_dialog_act has been defined already, outside of this snippet. plan_variant_constraint, reassigns_by_feas_map = h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) var_vals_str = get_var_vals_as_str() r_dialog_act = respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) # Third, we recompute allocation since best plan variant may have been updated after handling H-initiated dialog. abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 3: Dialog History: - R: "Could you please bring the plate and package to the countertop?" - H: "Sure." - H: "I did it." - H: "Can you open the package?" Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 1 Current low-level step index: 2 Response: ``` # H initiated a new dialog topic proposing to allocate a future abstract step to the robot. H_init_dialog = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking human to do a single abstract (high-level) step # of bringing the plate and package to the countertop (abstr step 0), which encompasses all low-level steps underneath. last_R_dialog_type_idx = 0 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # H finished the R helpreq of bringing the plate and package to the countertop. H_not_finished_prev_helpreq = False # No need for robot to split abstract step; human performed it properly. try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Compute best plan without human initiated dialog first. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # since H_init_dialog is true, we need to handle it with 3 steps. # First we need to build tag_name_to_dialog_map. # We go through each sentence of H-initiated dialog and classify it into the two types: # ["allocate", "split_proposal"] tag_name_to_dialog_map = {} tag_name_to_dialog_map["allocate"] = ['Can you open the package?'] parse_info = {} # Human initiated task allocation dialog about abstract step 1 (open package) parse_info["task_alloc_abstr_ts"] = 1 # We are currently on abstract step 1, low-level step 2. # This means there are 3 low-level steps left to do, so our constraint list must be length 3. # Human-initiated task allocation dialog was asking me, robot (agent 0), to open the package. # This is abstract step 1, which according to the plan tree consists of low-level steps 2-3. # Low-level steps 2-3 correspond to the 3rd to last and 2nd to last low-level steps of the plan tree, # so index -3 and -2 in the constraints list should be 0. # All other indices should be None since other low-level steps were not allocated to either agent. parse_info["task_alloc_constraints"] = [0, 0, None] # Since we have lo_alloc_by_abstr_step defined already, we can parse human-initiated dialog by category. # So the second step is handling human-initiated dialog to get a new plan constraint and R dialog response. # r_dialog_act has been defined already, outside of this snippet. plan_variant_constraint, reassigns_by_feas_map = h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) var_vals_str = get_var_vals_as_str() r_dialog_act = respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) # Third, we recompute allocation since best plan variant may have been updated after handling H-initiated dialog. abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 4: Dialog History: - R: "Could you please bring the plate and package to the countertop?" - H: "Sure." - H: "I could not perform the task." - H: "Can you open the package?" Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 0 Response: ``` # H initiated a new dialog topic proposing to allocate a future abstract step to the robot. H_init_dialog = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking human to do a single abstract (high-level) step # of bringing the plate and package to the countertop (abstr step 0), which encompasses all low-level steps underneath. last_R_dialog_type_idx = 0 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # H finished the R helpreq of bringing the plate and package to the countertop. H_not_finished_prev_helpreq = True # No need for robot to split abstract step; human performed it properly. try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Compute best plan without human initiated dialog first. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # since H_init_dialog is true, we need to handle it with 3 steps. # First we need to build tag_name_to_dialog_map. # We go through each sentence of H-initiated dialog and classify it into the two types: # ["allocate", "split_proposal"] tag_name_to_dialog_map = {} tag_name_to_dialog_map["allocate"] = ['Can you open the package?'] parse_info = {} # Human initiated task allocation dialog about abstract step 1 (open package) parse_info["task_alloc_abstr_ts"] = 1 # We are currently on abstract step 0, low-level step 0. # This means there are 5 low-level steps left to do, so our constraint list must be length 5. # Human-initiated task allocation dialog was asking me, robot (agent 0), to open the package. # This is abstract step 1, which according to the plan tree consists of low-level steps 2-3. # Low-level steps 2-3 correspond to the 3rd to last and 2nd to last low-level steps of the plan tree, # so index -3 and -2 in the constraints list should be 0. # All other indices should be None since other low-level steps were not allocated to either agent. parse_info["task_alloc_constraints"] = [None, None, 0, 0, None] # Since we have lo_alloc_by_abstr_step defined already, we can parse human-initiated dialog by category. # So the second step is handling human-initiated dialog to get a new plan constraint and R dialog response. # r_dialog_act has been defined already, outside of this snippet. plan_variant_constraint, reassigns_by_feas_map = h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) var_vals_str = get_var_vals_as_str() r_dialog_act = respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) # Third, we recompute allocation since best plan variant may have been updated after handling H-initiated dialog. abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 5: Dialog History: - H: "I will open the package." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 1 Response: ``` # H initiated a new dialog topic proposing to allocate a future abstract step to themselves (H) H_init_dialog = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # There was no previous R dialog. last_R_dialog_type_idx = -1 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # R did not provide any previous help request. H_not_finished_prev_helpreq = False try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Compute best plan without human initiated dialog first. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # since H_init_dialog is true, we need to handle it with 3 steps. # First we need to build tag_name_to_dialog_map. # We go through each sentence of H-initiated dialog and classify it into the two types: # ["allocate", "split_proposal"] tag_name_to_dialog_map = {} tag_name_to_dialog_map["allocate"] = ['I will open the package.'] parse_info = {} # Human initiated task allocation dialog about abstract step 1 (open package) parse_info["task_alloc_abstr_ts"] = 1 # We are currently on abstract step 0, low-level step 1. # This means there are 4 low-level steps left to do, so our constraint list must be length 4. # Human-initiated task allocation dialog volunteered themselves (agent 1), to open the package. # This is abstract step 1, which according to the plan tree consists of low-level steps 2-3. # Low-level steps 2-3 correspond to the 3rd to last and 2nd to last low-level steps of the plan tree, # so index -3 and -2 in the constraints list should be 1. # All other indices should be None since other low-level steps were not allocated to either agent. parse_info["task_alloc_constraints"] = [None, 1, 1, None] # Since we have lo_alloc_by_abstr_step defined already, we can parse human-initiated dialog by category. # So the second step is handling human-initiated dialog to get a new plan constraint and R dialog response. # r_dialog_act has been defined already, outside of this snippet. plan_variant_constraint, reassigns_by_feas_map = h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) var_vals_str = get_var_vals_as_str() r_dialog_act = respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) # Third, we recompute allocation since best plan variant may have been updated after handling H-initiated dialog. abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 6: Dialog History: - H: "Can you please open the package?" Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 1 Response: ``` # H initiated a new dialog topic proposing to allocate a future abstract step to the robot (R) H_init_dialog = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # There was no previous R dialog. last_R_dialog_type_idx = -1 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # R did not provide any previous help request. H_not_finished_prev_helpreq = False try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Compute best plan without human initiated dialog first. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # since H_init_dialog is true, we need to handle it with 3 steps. # First we need to build tag_name_to_dialog_map. # We go through each sentence of H-initiated dialog and classify it into the two types: # ["allocate", "split_proposal"] tag_name_to_dialog_map = {} tag_name_to_dialog_map["allocate"] = ['Can you please open the package?'] parse_info = {} # Human initiated task allocation dialog about abstract step 1 (open package) parse_info["task_alloc_abstr_ts"] = 1 # We are currently on abstract step 0, low-level step 1. # This means there are 4 low-level steps left to do, so our constraint list must be length 4. # Human-initiated task allocation dialog asked the robot (agent 0), to open the package. # This is abstract step 1, which according to the plan tree consists of low-level steps 2-3. # Low-level steps 2-3 correspond to the 3rd to last and 2nd to last low-level steps of the plan tree, # so index -3 and -2 in the constraints list should be 0 (us; robot). # All other indices should be None since other low-level steps were not allocated to either agent. parse_info["task_alloc_constraints"] = [None, 0, 0, None] # Since we have lo_alloc_by_abstr_step defined already, we can parse human-initiated dialog by category. # So the second step is handling human-initiated dialog to get a new plan constraint and R dialog response. # r_dialog_act has been defined already, outside of this snippet. plan_variant_constraint, reassigns_by_feas_map = h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) var_vals_str = get_var_vals_as_str() r_dialog_act = respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) # Third, we recompute allocation since best plan variant may have been updated after handling H-initiated dialog. abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 7: Dialog History: - H: "I will open the package with the knife and place them onto the countertop." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 1 Response: ``` # H initiated a new dialog topic proposing to allocate a future low-level step to themselves (H) H_init_dialog = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # There was no previous R dialog. last_R_dialog_type_idx = -1 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # R did not provide any previous help request. H_not_finished_prev_helpreq = False try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Compute best plan without human initiated dialog first. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # since H_init_dialog is true, we need to handle it with 3 steps. # First we need to build tag_name_to_dialog_map. # We go through each sentence of H-initiated dialog and classify it into the two types: # ["allocate", "split_proposal"] tag_name_to_dialog_map = {} tag_name_to_dialog_map["allocate"] = ['I will pick up the knife to open the package, and place them on the countertop.'] parse_info = {} # Human initiated task allocation dialog about (lo step 3: pick_open_place('package', 'with knife, onto countertop')) parse_info["task_alloc_abstr_ts"] = 1 # We are currently on abstract step 0, low-level step 1. # This means there are 4 low-level steps left to do, so our constraint list must be length 4. # Human-initiated task allocation dialog volunteered themselves (agent 1), to do pick_open_place('package', 'with knife, onto countertop'). # This is abstract step 1, low-level step 3. # Low-level step 3 corresponds to the 2nd to last low-level steps of the plan tree, # so index -2 in the constraints list should be 1. # All other indices should be None since other low-level steps were not allocated to either agent. parse_info["task_alloc_constraints"] = [None, None, 1, None] # Since we have lo_alloc_by_abstr_step defined already, we can parse human-initiated dialog by category. # So the second step is handling human-initiated dialog to get a new plan constraint and R dialog response. # r_dialog_act has been defined already, outside of this snippet. plan_variant_constraint, reassigns_by_feas_map = h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) var_vals_str = get_var_vals_as_str() r_dialog_act = respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) # Third, we recompute allocation since best plan variant may have been updated after handling H-initiated dialog. abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 8: Dialog History: - R: "Could you please bring the plate and package to the countertop?" - H: "How about we split this step? You bring the plate and I bring the package." - H: "I was unable to perform the task." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 0 Response: ``` # H initiated a new dialog topic proposing to split the current step. H_init_dialog = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking human to do a single abstract (high-level) step # of bringing the plate and package to the countertop (abstr step 0), which encompasses all low-level steps underneath. last_R_dialog_type_idx = 0 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # H did not finish the R helpreq of bringing the plate and package to the countertop. H_not_finished_prev_helpreq = True try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Compute best plan without human initiated dialog first. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # since H_init_dialog is true, we need to handle it with 3 steps. # First we need to build tag_name_to_dialog_map. # We go through each sentence of H-initiated dialog and classify it into the two types: # ["allocate", "split_proposal"] tag_name_to_dialog_map = {} tag_name_to_dialog_map["split_proposal"] = ['How about we split this step? You bring the plate and I bring the package.'] parse_info = {} # Human initiated split proposal about abstract step 0 (bring plate and package to countertop). parse_info["split_proposal_abstr_ts"] = 0 # We are currently on abstract step 0, low-level step 0 of the plan tree. # So there are 5 low-level steps left to do. Our parse_info constraints must be lists of length 5. # Human-initiated split proposal dialog was for me, robot (agent 0), to perform the 5th to last low-level step (low step 0) of bringing the plate, # while human (agent 1) would do the 4th to last low-level step (low step 1) of bringing the package. # Thus, index -5 of the constraints list should be 0 and index -4 of the list should be 1.All other elements in the list should be kept as None since they were not allocated to either agent. parse_info["split_proposal_constraints"] = [0, 1, None, None, None] # Since we have lo_alloc_by_abstr_step defined already, we can parse human-initiated dialog by category. # So the second step is handling human-initiated dialog to get a new plan constraint and R dialog response. # r_dialog_act has been defined already, outside of this snippet. plan_variant_constraint, reassigns_by_feas_map = h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) var_vals_str = get_var_vals_as_str() r_dialog_act = respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) # Third, we recompute allocation since best plan variant may have been updated after handling H-initiated dialog. abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 9: Dialog History: - R: "Would you mind please opening the package on the countertop?" - H: "Sure I can do it!" - H: "I wasn't able to complete the task." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 1 Current low-level step index: 2 Response: ``` # H did not initiate a new dialog topic but was just responding to R's help request. H_init_dialog = False R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking human to do a single abstract (high-level) step # of opening the package (abstr step 1), which encompasses all low-level steps underneath. last_R_dialog_type_idx = 0 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # H didn't want to or couldn't perform the abstract task R asked for. H_not_finished_prev_helpreq = True # See if we can split the abstract step between human and robot. try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # Do not call allocate_current_low_step_to_R or update_plan_constraint if R asked about an abstract step # Compute best plan. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 10: Dialog History: - R: "Can you please open the package with the knife and place it onto the countertop?" - H: "Nope." - H: "I was unable to perform the task." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 1 Current low-level step index: 3 Response: ``` # H did not initiate a new dialog topic but was just responding to R's help request. H_init_dialog = False R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking human to do a single low-level step # of opening the package with the knife (lo step 3: pick_open_place("package", "with knife, onto countertop")) last_R_dialog_type_idx = 1 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # H didn't want to or couldn't perform the low-level task R asked for. H_not_finished_prev_helpreq = True # See if we can split the abstract step between human and robot try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # R asked for a low-level step. H cannot do this low-level step, # so we allocate low-level step to R. # plan_variant_constraint has already been defined earlier. plan_variant_constraint = allocate_current_low_step_to_R(plan_variant_constraint) plan_variant_constraint = update_plan_constraint(plan_variant_constraint) # Compute best plan. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 11: Dialog History: - R: "Can you please open the package with the knife?" - H: "Sure!" - H: "I finished doing that." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 2 Current low-level step index: 4 Response: ``` # H did not initiate a new dialog topic but was just responding to R's help request. H_init_dialog = False R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking human to do a single low-level step # of opening the package with the knife (lo step 3: pick_open_place("package", "with knife, onto countertop")) last_R_dialog_type_idx = 1 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # H finished the low-level helpreq from the robot. H_not_finished_prev_helpreq = False # No need to handle human-completed task try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # No updates to plan variant constraint if human completed the task # Compute best plan. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 12: Dialog History: - H: "cut package and pour on plate" Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 0 Response: ``` # H spoke but it's just the instruction for the overall task. H_init_dialog = False R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # No R dialog in history. last_R_dialog_type_idx = -1 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # We do not need to parse the tasks from H's dialog. # H had no helpreq from R to perform. H_not_finished_prev_helpreq = False # Cannot split low-level step. try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # No updates to plan variant constraint if R hasn't asked for low-level helpreq yet. # Compute best plan. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 13: Dialog History: - R: "Let's split the tasks. I'll pick and place the knife to the countertop. Could you please open the package with the knife and place it onto the countertop? Thank you!" - H: "ok sure." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 1 Current low-level step index: 2 Response: ``` # H did not initiate a new dialog topic but was just responding to R's help request. H_init_dialog = False # We do not need to parse the tasks from H's dialog. # R offered to split up a task and H agreed to the split. H_not_finished_prev_helpreq = False R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was offering to split up the abstract step of opening the package (abstr step 1) with the human. last_R_dialog_type_idx = 2 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # See if we can split the abstract step between human and robot try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # No updates to plan variant constraint since R just did a split proposal, not a low-level helpreq. # Compute best plan. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 14: Dialog History: - R: "Sure, I can handle putting the knife on the countertop. However, I don't have the capability to open the package with the knife and place it onto the countertop." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 0 Response: ``` # H did not initiate a new dialog topic. H_init_dialog = False # We do not need to parse the tasks from R's dialog. # R responded to a task allocation request from H in previous timestep. No helpreq for H yet. H_not_finished_prev_helpreq = False R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was responding to an H helpreq in a previous timestep (not shown in history above). # Thus, the last R dialog is None of these R-initiated dialog types. last_R_dialog_type_idx = -1 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # No abstract step for R to suggest splitting; H already asked about the split and R is responding to it now. try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # No updates to plan variant constraint since R just did a split proposal, not a low-level helpreq. # Compute best plan. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` Example 15: Dialog History: - R: "I don't have the capability of opening the package with the knife and placing it onto the countertop. I know you didn't want to do it, but could you please help with that?" - H: "That's too bad! I can't help." Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 1 Current low-level step index: 3 Response: ``` # H did not initiate a new dialog topic. H_init_dialog = False # We do not need to parse the tasks from R's dialog. # H refused to do the low-level request from R. H_not_finished_prev_helpreq = True R_dialog_types = ["abstr_helpreq", "lo_helpreq", "split_proposal", "lo_helpreq_again", "None"] # The last R dialog was asking H again for help on a low-level step (lo step 3: pick_open_place("package", "with knife, onto countertop")) # of opening the package with a knife, since R recognizes of H: "I know you didn't want to do it." last_R_dialog_type_idx = 3 last_R_dialog_type = R_dialog_types[last_R_dialog_type_idx] # No abstract step for R to suggest splitting; H already asked about the split and R is responding to it now. try_split_cur_abstr_node = (H_not_finished_prev_helpreq and last_R_dialog_type == "abstr_helpreq") # R asked for a low-level step. H cannot do this low-level step, # so we allocate low-level step to R. # plan_variant_constraint has already been defined earlier. plan_variant_constraint = allocate_current_low_step_to_R(plan_variant_constraint) plan_variant_constraint = update_plan_constraint(plan_variant_constraint) # Compute best plan. plan_variant_constraint already defined before this snippet. best_plan_dict = choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node) if not best_plan_dict: step_kwargs = handle_no_plan_found(try_split_cur_abstr_node) else: # allocate abstract and low-level steps abstr_alloc, lo_alloc_by_abstr_step = get_abstr_lo_alloc(best_plan_dict) # update plan constraints depending on abstract allocation for future iterations plan_variant_constraint = abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) # Determine if we need to initiate R dialog r_dialog_kwargs = decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) # Generate r_init_dialog if needed and add to step_kwargs var_vals_str = get_var_vals_as_str() r_dialog_act = gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) step_kwargs = update_lang_act(r_dialog_act) ``` End of examples. This is the scenario for which you will output python code. Dialog History: - H: "cut package and pour on plate" Plan Tree: Overall Task: Open package and pour on plate. |--Abstract Step 0. bring plate and package to countertop |--Low-level Step 0. pickplace('plate', 'countertop') |--Low-level Step 1. pickplace('package', 'countertop') |--Abstract Step 1. open package |--Low-level Step 2. pickplace('knife', 'countertop') |--Low-level Step 3. pick_open_place('package', 'with knife, onto countertop') |--Abstract Step 2. pour package in plate |--Low-level Step 4. pick_pour_place('package', 'plate', 'countertop') Current abstract step index: 0 Current low-level step index: 0 Available API: update_plan_constraint(new_plan_constraints) allocate_current_low_step_to_R(plan_constraints) choose_best_plan_fn(plan_variant_constraint, try_split_cur_abstr_node=False) handle_no_plan_found(try_split_cur_abstr_node) get_abstr_lo_alloc(best_plan_dict) abstr_alloc_to_plan_constraint(abstr_alloc, lo_alloc_by_abstr_step) decide_r_init_dialog_type(abstr_alloc, lo_alloc_by_abstr_step) get_lines_in_str(code, line_prefix_to_avoid) gen_r_init_dialog(r_dialog_kwargs, r_dialog_act, var_vals_str) update_lang_act(r_dialog_act) h_init_dialog_to_constraints(lo_alloc_by_abstr_step, tag_name_to_dialog_map, parse_info) respond_to_h_init_dialog(r_dialog_act, var_vals_str, reassigns_by_feas_map) Instructions: 1. Do not output code with if-statements, besides the if case when no best_plan_dict has been found. 2. Do not define plan_variant_constraint or r_dialog_act to a constant value like an empty list or None value; assume it is already defined. 3. If there is human-initiated dialog and we need to parse it into constraint lists, your constraint lists should have length equal to the number of low-level steps left (total low-level steps in plan tree minus current low-level step index). 4. If no dialog history is provided, define R_dialog_types as usual, and always make sure to set last_R_dialog_type_idx = -1, which means "None". 5. When predicting `last_R_dialog_type_idx`, note that some abstract steps have similar names with a low-level step underneath them on the plan tree. Carefully evaluate the plan tree to determine if the Robot was previously talking about an abstract step or a low level step in requesting help from the human. For example, "Can you open the package?" is asking for help with the entire abstract step 1 of opening the package, while "Can you open the package with the knife?" is asking for help on the low-level step 3 underneath abstract step 1. 6. No emojis. UTF-8 text only. Return your answer in the format of a python snippet. Example response format: ``` # start of script ```