abliao

Results 3 issues of abliao

![image](https://user-images.githubusercontent.com/37282491/230771623-41fe2fa4-e462-465f-a85a-e3203f559891.png) When I give the wrong text_prompt, the model does not detect any objects, batch=0, so an error is reported

from .pysapien import * ImportError: libvulkan.so.1: cannot open shared object file: No such file or directory

enhancement

Can you provide a local generation method of oracle data, and I want to know the effect of using oracle data for training.