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'''
ChatGPT + Robotics Gradio demo.
Author: Sai Vemprala
For details, please check out our blog post: https://aka.ms/ChatGPT-Robotics, and our paper:
https://www.microsoft.com/en-us/research/uploads/prod/2023/02/ChatGPT___Robotics.pdf
In this demo, we provide a quick way to interact with ChatGPT in robotics settings using some custom prompts.
As seen in our paper, we provide prompts for several scenarios: robot manipulation, drone navigation
(in a simulated setting (airsim) as well as real life), and embodied AI. embodied_agent_closed_loop is an
experimental setting where observations from a scene can be described to ChatGPT as text.
Parts of the code were inspired by https://huggingface.co/spaces/VladislavMotkov/chatgpt_webui/
'''
import gradio as gr
from revChatGPT.V1 import Chatbot
import glob, os
access_token = None
def parse_text(text):
lines = text.split("\n")
for i,line in enumerate(lines):
if "```" in line:
items = line.split('`')
if items[-1]:
lines[i] = f'<pre><code class="{items[-1]}">'
else:
lines[i] = f'</code></pre>'
else:
if i>0:
lines[i] = '<br/>'+line.replace(" ", " ")
return "".join(lines)
def configure_chatgpt(info):
access_token = info
config = {}
config.update({"access_token": access_token})
global chatgpt
chatgpt = Chatbot(config=config)
def ask(prompt):
message = ""
for data in chatgpt.ask(prompt):
message = data["message"]
return parse_text(message)
def query_chatgpt(inputs, history, message):
history = history or []
output = ask(inputs)
history.append((inputs, output))
return history, history, ''
def initialize_prompt(prompt_type, history):
history = history or []
if prompt_type:
prompt_file = './prompts/' + str(prompt_type) + '.txt'
with open(prompt_file, "r") as f:
prompt = f.read()
output = ask(prompt)
history.append(("<ORIGINAL PROMPT>", output))
return history, history
def display_prompt(show, prompt_type):
if not prompt_type:
show = False
return 'Error - prompt not selected'
else:
if show:
prompt_file = './prompts/' + str(prompt_type) + '.txt'
with open(prompt_file, "r") as f:
prompt = f.read()
return prompt
else:
return ''
with gr.Blocks() as demo:
gr.Markdown("""<h3><center>ChatGPT + Robotics</center></h3>""")
gr.Markdown(
"This is a companion app to the work [ChatGPT for Robotics: Design Principles and Model Abilities](https://aka.ms/ChatGPT-Robotics). See [README](README.md) for instructions.")
if not access_token:
gr.Markdown("""<h4>Login to ChatGPT</h4>""")
with gr.Row():
with gr.Group():
info = gr.Textbox(placeholder="Enter access token here (from https://chat.openai.com/api/auth/session)", label="ChatGPT Login")
with gr.Row():
login = gr.Button("Login")
login.click(configure_chatgpt, inputs=[info])
l=os.listdir('./prompts')
li=[x.split('.')[0] for x in l]
gr.Markdown("""<h4>Initial Prompt (based on scenario)</h4>""")
prompt_type = gr.components.Dropdown(li, label="Select sample prompt", value=None)
show_prompt = gr.Checkbox(label="Display prompt")
prompt_display = gr.Textbox(interactive=False, label="Prompt")
show_prompt.change(fn=display_prompt, inputs=[show_prompt, prompt_type], outputs=prompt_display)
initialize = gr.Button(value="Initialize")
gr.Markdown("""<h4>Conversation</h4>""")
chatgpt_robot = gr.Chatbot()
message = gr.Textbox(placeholder="Enter query", label="")
state = gr.State()
initialize.click(fn=initialize_prompt, inputs=[prompt_type, state], outputs=[chatgpt_robot, state])
message.submit(query_chatgpt, inputs=[message, state], outputs=[chatgpt_robot, state, message])
demo.launch() |