Language-World

[api reference]

A language and robotics benchmark based on Meta-World.

Language-World is packaged as a set of small tools which process Meta-World observations. Wrapping Meta-World environments directly is left up to the user. To avoid confusion, please always use the goal-observable, randomized goal and initial state variation of Meta-World (MT50-rand), and always sample length 500 episodes. If you choose not to, please prominently document what configuration you used instead.

Language-World can be installed via pypi:

pip install language-world==0.1.1

Or directly from the git repo

pip install git+https://github.com/krzentner/language-world.git@v0.1.1

You will also need to install a version of Meta-World. language-world should work will all versions of Meta-World with at least v2 environments.

Alternatively, copy this file into your project.

Paper

language-world was introduced in a paper "Conditionally Combining Robot Skills using Large Language Models," presented at ICRA 2024. A preprint is available at this arXiv url.

If you use language-world in your research, please cite:

@misc{zentner2023conditionally,
      title={Conditionally Combining Robot Skills using Large Language Models},
      author={K. R. Zentner and Ryan Julian and Brian Ichter and Gaurav S. Sukhatme},
      year={2023},
      eprint={2310.17019},
      archivePrefix={arXiv},
      primaryClass={cs.LG}
}

Baseline Code and Results

Data files of the original experiments, as well as code is available in the llm-skill-mixing branch. Please note that this code is fairly unoptimized and uses an older API to the benchmark.

API Documentation

Detailed reference documentation is available here.

Language-World consists of three main components:

First, a set of natural language task descriptions available as a dictionary: language_world.TASK_DESCRIPTIONS: dict[str, str]

Second, a set of "scripted skills," that can be used to solve MT10 (and also function in other tasks).

language_world.SCRIPTED_SKILL_NAMES: list[str] lists the names of all scripted skills. language_world.run_scripted_skill(skill_name: str, obs: np.ndarray) -> np.ndarray produces an action given a skill name and observation.

Thirdly, a query answering function:

language_world.eval_queries(task_name: str, queries: List[str],
                            obs: np.ndarray, fuzzy: bool=False)

The query answering function can evaluate a large number of queries. Enabling the fuzzy flag will map unsupported queries to the nearest supported queries using string edit distance.

language_world.enumerate_base_queries(task_name: str) -> list[str] provides a list of the "base" queries for a task (i.e. those that do not contain conjunctions).

language_world.enumerate_all_queries(task_name: str) -> list[str] provides a list of all queries for a task.