Datasets:

kushsaraf
/

robot-intelligence-dataset

	<!------------------------------------------------------------------------
	<! Robot Execution Failures
	<!----------------------------------------------------------------------->
	<HTML> <HEAD>
	<TITLE> Robot Execution Failures </TITLE>
	</HEAD>
	<BODY BGCOLOR="#FFFFFF">

	<!------------------------------------------------------------------------
	<! Title
	<!----------------------------------------------------------------------->
	<H1> Robot Execution Failures </H1>


	<!------------------------------------------------------------------------
	<! Data Type
	<!----------------------------------------------------------------------->
	<H2>Data Type</H2>
	multivariate time series

	<!------------------------------------------------------------------------
	<! Abstract
	<!----------------------------------------------------------------------->
	<H2>Abstract</H2>
	<p>
	This dataset contains force and torque measurements on a robot after failure detection. Each failure is characterized by 15 force/torque samples collected at regular time intervals starting immediately after failure detection.
	</p>

	<!------------------------------------------------------------------------
	<! Sources
	<!----------------------------------------------------------------------->
	<H2> Sources</H2>
	<H4> Original Owner and Donor</H4>
	<PRE>
	Luis Seabra Lopes and Luis M. Camarinha-Matos
	Universidade Nova de Lisboa,
	Monte da Caparica, Portugal
	</PRE>
	<B>Date Donated: </B> April 23, 1999

	<!------------------------------------------------------------------------
	<! Data Characteristics
	<!----------------------------------------------------------------------->
	<H2> Data Characteristics</H2>

	The donation includes 5 datasets, each of them defining a different learning problem:
	<UL>
	<li> LP1: failures in approach to grasp position </li>
	<li> LP2: failures in transfer of a part </li>
	<li> LP3: position of part after a transfer failure </li>
	<li> LP4: failures in approach to ungrasp position </li>
	<li> LP5: failures in motion with part </li>
	</UL>

	<H4>Feature information </H4>
	<P>
	All features are numeric although they are integer valued only.
	Each feature represents a force or a torque measured after
	failure detection; each failure instance is characterized in terms
	of 15 force/torque samples collected at regular time intervals
	starting immediately after failure detection;
	The total observation window for each failure instance was of 315 ms.
	</P>

	Each example is described as follows:
	<PRE>
	class
	Fx1 Fy1 Fz1 Tx1 Ty1 Tz1
	Fx2 Fy2 Fz2 Tx2 Ty2 Tz2
	......
	Fx15 Fy15 Fz15 Tx15 Ty15 Tz15
	</PRE>
	<P>
	where Fx1 ... Fx15 is the evolution of force Fx in the observation
	window, the same for Fy, Fz and the torques; there is a total
	of 90 features.
	</P>
	<H4> Number of instances in each dataset</H4>
	<PRE>
	-- LP1: 88
	-- LP2: 47
	-- LP3: 47
	-- LP4: 117
	-- LP5: 164
	</PRE>


	<H4>Class Distribution</H4>
	<PRE>
	-- LP1: 24% normal
	19% collision
	18% front collision
	39% obstruction
	-- LP2: 43% normal
	13% front collision
	15% back collision
	11% collision to the right
	19% collision to the left
	-- LP3: 43% ok
	19% slightly moved
	32% moved
	6% lost
	-- LP4: 21% normal
	62% collision
	18% obstruction
	-- LP5: 27% normal
	16% bottom collision
	13% bottom obstruction
	29% collision in part
	16% collision in tool
	</PRE>

	<!------------------------------------------------------------------------
	<! Other Relevant Information
	<!----------------------------------------------------------------------->
	<H2> Other Relevant Information</H2>

	<H4>Feature transformation strategies</H4>

	In order to improve classification accuracy, a set of five feature
	transformation strategies (based on statistical summary features,
	discrete Fourier transform, etc.) was defined and evaluated.
	This enabled an average improvement of 20% in accuracy. The most
	accessible reference is [Seabra Lopes and Camarinha-Matos, 1998].


	<!------------------------------------------------------------------------
	<! Data Format
	<!----------------------------------------------------------------------->
	<H2>Data Format</H2>
	The data is stored in five ASCII files, with each example in the files described as follows:
	<PRE>
	class
	Fx1 Fy1 Fz1 Tx1 Ty1 Tz1
	Fx2 Fy2 Fz2 Tx2 Ty2 Tz2
	......
	Fx15 Fy15 Fz15 Tx15 Ty15 Tz15
	</PRE>
	where Fx1 ... Fx15 is the evolution of force Fx in the observation
	window, the same for Fy, Fz and the torques; there is a total
	of 90 features.

	<!------------------------------------------------------------------------
	<! Past Usage
	<!----------------------------------------------------------------------->
	<H2>Past Usage</H2>
	<p>
	Seabra Lopes, L. (1997) "Robot Learning at the Task Level:
	a Study in the Assembly Domain", Ph.D. thesis, Universidade
	Nova de Lisboa, Portugal.
	</p>

	<p>
	Seabra Lopes, L. and L.M. Camarinha-Matos (1998) Feature
	Transformation Strategies for a Robot Learning Problem,
	"Feature Extraction, Construction and Selection. A Data Mining
	Perspective", H. Liu and H. Motoda (edrs.),
	Kluwer Academic Publishers.
	</p>

	<p>
	Camarinha-Matos, L.M., L. Seabra Lopes, and J. Barata (1996)
	Integration and Learning in Supervision of Flexible Assembly Systems,
	"IEEE Transactions on Robotics and Automation", 12 (2), 202-219.
	</p>

	<!------------------------------------------------------------------------
	<! Signature
	<!----------------------------------------------------------------------->
	<p>
	<hr>
	<ADDRESS>
	<A href="http://kdd.ics.uci.edu/">The UCI KDD Archive</A><br>
	<a href="http://www.ics.uci.edu/">Information and Computer Science</a><br>
	<a href="http://www.uci.edu/">University of California, Irvine</a><br>
	Irvine, CA 92697-3425 <br>
	</ADDRESS>
	Last modified: March 11, 1999 </BODY>
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