Some success with sequence reasoning.

Author: calvertdw

ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/reasoning/BehaviorTreeNextActionReasoning.java

@@ -0,0 +1,143 @@
+package us.ihmc.behaviors.reasoning;
+
+import de.kherud.llama.InferenceParameters;
+import de.kherud.llama.LlamaModel;
+import de.kherud.llama.ModelParameters;
+import de.kherud.llama.args.MiroStat;
+import us.ihmc.log.LogTools;
+import us.ihmc.tools.IHMCCommonPaths;
+
+public class BehaviorTreeNextActionReasoning
+{
+   private static final String SYSTEM = """
+         <|start_header_id|>system<|end_header_id|>
+         You are a reasoning system that decides the next action to execute in a tree-based robotic system.
+         The current tree and state is given by:
+         {
+           "nodes": [
+              {"id": int, "type": string, "children": [ ]}
+           ],
+           "state": {
+             "currently_executing": int
+             "is_done": bool
+           }
+         }
+         There are two node types: Action and Sequence.
+         An Action node is the only type of node that can be executed.
+         A Sequence node can have children. When one child of an action sequence node is done, the next one in the list of children should be executed.
+         Please consider which node is best to execute next and output only the node ID number of that action.
+         <|eot_id|>
+         <|start_header_id|>user<|end_header_id|>
+         {
+           "nodes": [
+              {"id": 001, "type": "Sequence, "children": [
+                 {"id": 002, "type": "Action"},
+                 {"id": 005, "type": "Action"},
+                 {"id": 020, "type": "Action"},
+                 {"id": 004, "type": "Action"},
+                 {"id": 056, "type": "Action"}
+              ]}
+           ],
+           "state": {
+             "currently_executing": 002,
+             "is_done": true
+           }
+         }
+         <|eot_id|>
+         <|start_header_id|>assistant<|end_header_id|>
+         005
+         <|eot_id|>
+         <|start_header_id|>user<|end_header_id|>
+         {
+           "nodes": [
+              {"id": 001, "type": "Sequence, "children": [
+                 {"id": 002, "type": "Action"},
+                 {"id": 005, "type": "Action"},
+                 {"id": 020, "type": "Action"},
+                 {"id": 004, "type": "Action"},
+                 {"id": 056, "type": "Action"}
+              ]}
+           ],
+           "state": {
+             "currently_executing": 005,
+             "is_done": true
+           }
+         }
+         <|eot_id|>
+         <|start_header_id|>assistant<|end_header_id|>
+         020
+         <|eot_id|>
+         <|start_header_id|>user<|end_header_id|>
+         {
+           "nodes": [
+              {"id": 001, "type": "Sequence, "children": [
+                 {"id": 002, "type": "Action"},
+                 {"id": 005, "type": "Action"},
+                 {"id": 020, "type": "Action"},
+                 {"id": 004, "type": "Action"},
+                 {"id": 056, "type": "Action"}
+              ]}
+           ],
+           "state": {
+             "currently_executing": 020,
+             "is_done": true
+           }
+         }
+         <|eot_id|>
+         <|start_header_id|>assistant<|end_header_id|>
+         """;
+
+
+   private final LlamaModel model;
+
+   public BehaviorTreeNextActionReasoning()
+   {
+      String modelFilePath = IHMCCommonPaths.DOT_IHMC_DIRECTORY.resolve("llama-models/Llama-3.2-1B-Instruct-Q8_0.gguf").toString();
+      ModelParameters modelParams = new ModelParameters();
+      modelParams.setModelFilePath(modelFilePath);
+      modelParams.setNGpuLayers(33);
+      modelParams.setNThreads(8);
+      modelParams.setNCtx(4098);
+
+      LlamaModel.setLogger(null, (level, message) -> {});
+
+      model = new LlamaModel(modelParams);
+   }
+
+   public int queryNextLeafToExecuteIndex()
+   {
+      String prompt = SYSTEM;
+//      prompt += """
+//            Hello!
+//            """;
+
+      InferenceParameters inferParams = new InferenceParameters(prompt);
+      inferParams.setPenalizeNl(true);
+      inferParams.setTemperature(0.3f);
+      inferParams.setMiroStat(MiroStat.V2);
+      inferParams.setStopStrings("<|eot_id|>");
+      inferParams.setTopK(40);
+      inferParams.setTopP(0.25f);
+      inferParams.setRepeatPenalty(1.15f);
+
+      String reponse = model.complete(inferParams);
+
+      LogTools.info(prompt + reponse);
+
+      return 0;
+   }
+
+   public void destroy()
+   {
+      model.close();
+   }
+
+   public static void main(String[] args)
+   {
+      BehaviorTreeNextActionReasoning reasoning = new BehaviorTreeNextActionReasoning();
+      reasoning.queryNextLeafToExecuteIndex();
+      reasoning.destroy();
+
+      System.exit(0); // FIXME: Not sure why it's not exiting automatically.
+   }
+}