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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).<br> | |
| This space allows you to work with ChatGPT to get it to generate code for robotics tasks, such as get a robot arm to manipulate objects, or have a drone fly around in a 3D world.<br> | |
| See [README](https://huggingface.co/spaces/microsoft/ChatGPT-Robotics/blob/main/README.md) for detailed 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 for ChatGPT</h4>""") | |
| prompt_type = gr.components.Dropdown( | |
| li, | |
| label="Select sample prompt", | |
| value=None, | |
| info="Choose a prompt based on the robot/scenario you're interested in (e.g. pick airsim or real_drone to start a drone scenario)", | |
| ) | |
| 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="", | |
| info='Talk to ChatGPT and ask it to help with specific tasks! For example, "take off and reach an altitude of five meters"', | |
| ) | |
| 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() |