Base model inference
Setting `pad_token_id` to `eos_token_id`:2 for open-end generation.
<<SYS>> You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format.
<</SYS>>[INST]The behavior tree represents a robot's navigation system with arm activity. The robot must visit the location "Station A", then follow the aruco with ID=7. The only available actions that must be used in the behavior tree are: "MoveTo", "FollowAruco".[/INST]
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<MoveTo location="Station A"/>
<FollowAruco id="7"/>
</Sequence>
</BehaviorTree>
</root>
[INST]The behavior tree represents a robot's navigation system with arm activity. The robot must visit the location "ArucoStand", then follow the arucos given their IDs: 10, 1, and 7. Finally the robot reset the manipulator to the parking position and goes to the location "Parking". The only available actions that must be used in the behavior tree are: "MoveTo", "FollowAruco" and "ResetManipulator".[/INST] <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<MoveTo location="ArucoStand"/>
<FollowAruco id="10"/>
<FollowAruco id="1"/>
<FollowAruco id="7"/>
<ResetManipulator/>
<MoveTo location="Parking"/>
</Sequence>
</BehaviorTree>
</root>더보기
Fine-tuned model inference(오류)
{
"name": "ValueError",
"message": "Can't find 'adapter_config.json' at 'lora_adapters/codellama-bt-adapter'",
"stack": "---------------------------------------------------------------------------
HTTPError Traceback (most recent call last)
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/utils/_errors.py:304, in hf_raise_for_status(response, endpoint_name)
303 try:
--> 304 response.raise_for_status()
305 except HTTPError as e:
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/requests/models.py:1021, in Response.raise_for_status(self)
1020 if http_error_msg:
-> 1021 raise HTTPError(http_error_msg, response=self)
HTTPError: 404 Client Error: Not Found for url: https://huggingface.co/lora_adapters/codellama-bt-adapter/resolve/main/adapter_config.json
The above exception was the direct cause of the following exception:
RepositoryNotFoundError Traceback (most recent call last)
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/peft/config.py:197, in PeftConfigMixin._get_peft_type(cls, model_id, **hf_hub_download_kwargs)
196 try:
--> 197 config_file = hf_hub_download(
198 model_id,
199 CONFIG_NAME,
200 **hf_hub_download_kwargs,
201 )
202 except Exception:
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py:118, in validate_hf_hub_args.<locals>._inner_fn(*args, **kwargs)
116 kwargs = smoothly_deprecate_use_auth_token(fn_name=fn.__name__, has_token=has_token, kwargs=kwargs)
--> 118 return fn(*args, **kwargs)
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/file_download.py:1403, in hf_hub_download(repo_id, filename, subfolder, repo_type, revision, library_name, library_version, cache_dir, local_dir, local_dir_use_symlinks, user_agent, force_download, force_filename, proxies, etag_timeout, resume_download, token, local_files_only, legacy_cache_layout, endpoint)
1401 elif isinstance(head_call_error, RepositoryNotFoundError) or isinstance(head_call_error, GatedRepoError):
1402 # Repo not found or gated => let's raise the actual error
-> 1403 raise head_call_error
1404 else:
1405 # Otherwise: most likely a connection issue or Hub downtime => let's warn the user
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/file_download.py:1261, in hf_hub_download(repo_id, filename, subfolder, repo_type, revision, library_name, library_version, cache_dir, local_dir, local_dir_use_symlinks, user_agent, force_download, force_filename, proxies, etag_timeout, resume_download, token, local_files_only, legacy_cache_layout, endpoint)
1260 try:
-> 1261 metadata = get_hf_file_metadata(
1262 url=url,
1263 token=token,
1264 proxies=proxies,
1265 timeout=etag_timeout,
1266 library_name=library_name,
1267 library_version=library_version,
1268 user_agent=user_agent,
1269 )
1270 except EntryNotFoundError as http_error:
1271 # Cache the non-existence of the file and raise
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py:118, in validate_hf_hub_args.<locals>._inner_fn(*args, **kwargs)
116 kwargs = smoothly_deprecate_use_auth_token(fn_name=fn.__name__, has_token=has_token, kwargs=kwargs)
--> 118 return fn(*args, **kwargs)
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/file_download.py:1667, in get_hf_file_metadata(url, token, proxies, timeout, library_name, library_version, user_agent)
1666 # Retrieve metadata
-> 1667 r = _request_wrapper(
1668 method=\"HEAD\",
1669 url=url,
1670 headers=headers,
1671 allow_redirects=False,
1672 follow_relative_redirects=True,
1673 proxies=proxies,
1674 timeout=timeout,
1675 )
1676 hf_raise_for_status(r)
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/file_download.py:385, in _request_wrapper(method, url, follow_relative_redirects, **params)
384 if follow_relative_redirects:
--> 385 response = _request_wrapper(
386 method=method,
387 url=url,
388 follow_relative_redirects=False,
389 **params,
390 )
392 # If redirection, we redirect only relative paths.
393 # This is useful in case of a renamed repository.
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/file_download.py:409, in _request_wrapper(method, url, follow_relative_redirects, **params)
408 response = get_session().request(method=method, url=url, **params)
--> 409 hf_raise_for_status(response)
410 return response
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/huggingface_hub/utils/_errors.py:352, in hf_raise_for_status(response, endpoint_name)
344 message = (
345 f\"{response.status_code} Client Error.\"
346 + \"\
\
\"
(...)
350 \" make sure you are authenticated.\"
351 )
--> 352 raise RepositoryNotFoundError(message, response) from e
354 elif response.status_code == 400:
RepositoryNotFoundError: 404 Client Error. (Request ID: Root=1-66019f3e-0b24003439593d6b50eb7247;dc738c87-cab0-4011-9b92-456f489bb7f9)
Repository Not Found for url: https://huggingface.co/lora_adapters/codellama-bt-adapter/resolve/main/adapter_config.json.
Please make sure you specified the correct `repo_id` and `repo_type`.
If you are trying to access a private or gated repo, make sure you are authenticated.
During handling of the above exception, another exception occurred:
ValueError Traceback (most recent call last)
Cell In[29], line 2
1 # Load fine-tuned model
----> 2 finetuned_model = PeftModel.from_pretrained(base_model, adapter_id)
3 finetuned_model = finetuned_model.merge_and_unload()
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/peft/peft_model.py:328, in PeftModel.from_pretrained(cls, model, model_id, adapter_name, is_trainable, config, **kwargs)
325 # load the config
326 if config is None:
327 config = PEFT_TYPE_TO_CONFIG_MAPPING[
--> 328 PeftConfig._get_peft_type(
329 model_id,
330 subfolder=kwargs.get(\"subfolder\", None),
331 revision=kwargs.get(\"revision\", None),
332 cache_dir=kwargs.get(\"cache_dir\", None),
333 use_auth_token=kwargs.get(\"use_auth_token\", None),
334 token=kwargs.get(\"token\", None),
335 )
336 ].from_pretrained(model_id, **kwargs)
337 elif isinstance(config, PeftConfig):
338 config.inference_mode = not is_trainable
File ~/anaconda3/envs/btgenbot/lib/python3.10/site-packages/peft/config.py:203, in PeftConfigMixin._get_peft_type(cls, model_id, **hf_hub_download_kwargs)
197 config_file = hf_hub_download(
198 model_id,
199 CONFIG_NAME,
200 **hf_hub_download_kwargs,
201 )
202 except Exception:
--> 203 raise ValueError(f\"Can't find '{CONFIG_NAME}' at '{model_id}'\")
205 loaded_attributes = cls.from_json_file(config_file)
206 return loaded_attributes[\"peft_type\"]
ValueError: Can't find 'adapter_config.json' at 'lora_adapters/codellama-bt-adapter'"
}더보기
task = """The behavior tree represents a robot's navigation system with arm activity. The robot must visit the location "ArucoStand", then follow the arucos given their IDs: 10, 1, and 7. Finally the robot reset the manipulator to the parking position and goes to the location "Parking". The only available actions that must be used in the behavior tree are: "MoveTo", "FollowAruco" and "ResetManipulator"."""
example_task = """The behavior tree represents a robot's navigation system with arm activity. The robot must visit the location "Station A", then follow the aruco with ID=7. The only available actions that must be used in the behavior tree are: "MoveTo", "FollowAruco"."""
finetuned_model.eval()
[INST]<<SYS>> You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format.
<</SYS>>The behavior tree represents a robot's navigation system with arm activity. The robot must visit the location "Station A", then follow the aruco with ID=7. The only available actions that must be used in the behavior tree are: "MoveTo", "FollowAruco".[/INST]
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<MoveTo location="Station A"/>
<FollowAruco id="7"/>
</Sequence>
</BehaviorTree>
</root>
[INST]The behavior tree represents a robot's navigation system with arm activity. The robot must visit the location "ArucoStand", then follow the arucos given their IDs: 10, 1, and 7. Finally the robot reset the manipulator to the parking position and goes to the location "Parking". The only available actions that must be used in the behavior tree are: "MoveTo", "FollowAruco" and "ResetManipulator".[/INST] <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<MoveTo location="ArucoStand"/>
<FollowAruco id="10"/>
<FollowAruco id="1"/>
<FollowAruco id="7"/>
<ResetManipulator/>
<MoveTo location="Parking"/>
</Sequence>
</BehaviorTree>
</root>
과제와 과제예시를 바꿨을 때 결과
더보기
로봇은 "PartsBin" 위치로 이동한 후, ID가 3인 부품을 잡고 "AssemblyZone"으로 이동하여 부품을 조립해야 합니다. 사용 가능한 행동은 "MoveTo", "GrabObject", "AssemblePart"입니다.
**새로운 예제_과제:**
로봇은 "SupplyArea"로 이동한 후, ID가 2인 공급품을 잡아 "Storage" 위치로 가져가야 합니다. 사용 가능한 행동은 "MoveTo"와 "GrabObject"입니다.Setting `pad_token_id` to `eos_token_id`:2 for open-end generation.
<<SYS>> You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format.
<</SYS>>[INST]The robot needs to move to the "SupplyArea", grab a supply item with ID 2, and then carry it to the "Storage" location. The available actions for this behavior tree are: "MoveTo" and "GrabObject".[/INST]
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<MoveTo location="Station A"/>
<FollowAruco id="7"/>
</Sequence>
</BehaviorTree>
</root>
[INST]A robot must move to the "PartsBin" location, grab a part with ID 3, then proceed to "AssemblyZone" to assemble the part. The only actions available in the behavior tree are: "MoveTo", "GrabObject", "AssemblePart".[/INST] <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<MoveTo location="PartsBin"/>
<GrabObject id="3"/>
<AssemblePart/>
</Sequence>
</BehaviorTree>
</root>https://github.com/AIRLab-POLIMI/BTGenBot