HRI-Quantifiers

Installation

• Operating system: Linux
• Python 3.10
• Mace4 and Prover9: Prover9 (and Mace4) Download
  • Download LADR-2009-11A.tar.gz
  • Extract the archive: zcat LADR-2009-11A.tar.gz | tar xvf -
  • Open the LADR-2009-11A/provers.src/Makefile file and make the adjustments according to this Stack Overflow issue answer. The option -lm is out of position; move it at the end of the line at each occurrence (7 times)
  • Run make all in the LADR-2009-11A folder. Verify the installation by running make test1. For additional details, read the instructions in the LADR-2009-11A/README.make file
  • Add the bin directory to PATH:
    • Open the ~/.bashrc file (e.g., by running nano ~/.bashrc), add the following line at the end of it: export PATH="[...]:$PATH", where [..] should be replaced with the absolute path of the bin folder ( e.g., export PATH="/home/user/LADR-2009-11A/bin:$PATH")
    • Save the file and load the new $PATH executing source ~/.bashrc
• requests: pip install requests
• python-dotenv: pip install python-dotenv
• OpenAI: pip install --upgrade openai

Execution

In the root folder of the repository, run python3 src/main.py.

Alternatively, each component can be executed independently:

• python3 mace4/run_mace4.py: will evaluate the expression from expression.in against background_knowledge.in and sensors.in and write the models to result.out
• python3 src/evaluator.py: will evaluate the expressions from the main() function. Update the contents of this function to test different expressions
• python3 src/converter.py: will convert the sentences from the main() function to expressions that can be used to query the state or send commands to the robot using the abe_sim agent simulation in PyBullet.

Examples

Queries

Sentence	Conversion
There are twice as many onions than carrots	{'type':'query','expressions':['|exists x0 (onion(x0)).| == 2 * |exists x0 (carrot(x0)).|']}
There are twice as many onions than carrots	{'type':'query','expressions':['|exists x0 (vegetable(x0) & redOnion(x0)).| > |exists x0 (vegetable(x0) & -redOnion(x0)).|']}
There are exactly 2 ovens	{'type':'query','expressions':['|exists x0 (oven(x0)).| == 2']}

Commands

Sentence	Conversion
Fetch a couple of red chilli peppers	{'type':'command','expressions':[['|exists x1 (redChilliPepper(x1)).| >= 2']],'commands':['abe(x0) & redChilliPepper(x1) -> fetch(x0, x1).']}
Cut several broccoli	{'type':'command','expressions':[['|exists x1 (broccoli(x1)).| >= 3']],'commands':['abe(x0) & broccoli(x1) & cuttingTool(x2) -> cut(x0, x1, x2).']}
Line a baking tray with paper	{'type':'command','expressions':[['|exists x1 (bakingSheet(x1)).| >= 1','|exists x2 (bakingTray(x2)).| >= 1']],'commands':['abe(x0) & bakingSheet(x1) & bakingTray(x2) -> line(x0, x1, x2).']}

For more examples, check train_data.csv.