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wall-robot-navigation

wall-robot-navigation

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Author: Ananda Freire, Marcus Veloso and Guilherme Barreto Source: UCI Please cite: * Dataset Title: Wall-Following Robot Navigation Data Data Set * Abstract: The data were collected as the SCITOS G5 robot navigates through the room following the wall in a clockwise direction, for 4 rounds, using 24 ultrasound sensors arranged circularly around its 'waist'. * Source: (a) Creators: Ananda Freire, Marcus Veloso and Guilherme Barreto Department of Teleinformatics Engineering Federal University of Ceará Fortaleza, Ceará, Brazil (b) Donors of database: Ananda Freire (anandalf '@' gmail.com) Guilherme Barreto (guilherme '@' deti.ufc.br) * Data Set Information: The provided file contain the raw values of the measurements of all 24 ultrasound sensors and the corresponding class label. Sensor readings are sampled at a rate of 9 samples per second. It is worth mentioning that the 24 ultrasound readings and the simplified distances were collected at the same time step, so each file has the same number of rows (one for each sampling time step). The wall-following task and data gathering were designed to test the hypothesis that this apparently simple navigation task is indeed a non-linearly separable classification task. Thus, linear classifiers, such as the Perceptron network, are not able to learn the task and command the robot around the room without collisions. Nonlinear neural classifiers, such as the MLP network, are able to learn the task and command the robot successfully without collisions. If some kind of short-term memory mechanism is provided to the neural classifiers, their performances are improved in general. For example, if past inputs are provided together with current sensor readings, even the Perceptron becomes able to learn the task and command the robot successfully. If a recurrent neural network, such as the Elman network, is used to learn the task, the resulting dynamical classifier is able to learn the task using less hidden neurons than the MLP network. * Attribute Information: Number of Attributes: sensor_readings_24.data: 24 numeric attributes and the class. For Each Attribute: -- File sensor_readings_24.data: 1. US1: ultrasound sensor at the front of the robot (reference angle: 180°) - (numeric: real) 2. US2: ultrasound reading (reference angle: -165°) - (numeric: real) 3. US3: ultrasound reading (reference angle: -150°) - (numeric: real) 4. US4: ultrasound reading (reference angle: -135°) - (numeric: real) 5. US5: ultrasound reading (reference angle: -120°) - (numeric: real) 6. US6: ultrasound reading (reference angle: -105°) - (numeric: real) 7. US7: ultrasound reading (reference angle: -90°) - (numeric: real) 8. US8: ultrasound reading (reference angle: -75°) - (numeric: real) 9. US9: ultrasound reading (reference angle: -60°) - (numeric: real) 10. US10: ultrasound reading (reference angle: -45°) - (numeric: real) 11. US11: ultrasound reading (reference angle: -30°) - (numeric: real) 12. US12: ultrasound reading (reference angle: -15°) - (numeric: real) 13. US13: reading of ultrasound sensor situated at the back of the robot (reference angle: 0°) - (numeric: real) 14. US14: ultrasound reading (reference angle: 15°) - (numeric: real) 15. US15: ultrasound reading (reference angle: 30°) - (numeric: real) 16. US16: ultrasound reading (reference angle: 45°) - (numeric: real) 17. US17: ultrasound reading (reference angle: 60°) - (numeric: real) 18. US18: ultrasound reading (reference angle: 75°) - (numeric: real) 19. US19: ultrasound reading (reference angle: 90°) - (numeric: real) 20. US20: ultrasound reading (reference angle: 105°) - (numeric: real) 21. US21: ultrasound reading (reference angle: 120°) - (numeric: real) 22. US22: ultrasound reading (reference angle: 135°) - (numeric: real) 23. US23: ultrasound reading (reference angle: 150°) - (numeric: real) 24. US24: ultrasound reading (reference angle: 165°) - (numeric: real) 25. Class: {Move-Forward, Slight-Right-Turn, Sharp-Right-Turn, Slight-Left-Turn} * Relevant Papers: Ananda L. Freire, Guilherme A. Barreto, Marcus Veloso and Antonio T. Varela (2009), 'Short-Term Memory Mechanisms in Neural Network Learning of Robot Navigation Tasks: A Case Study'. Proceedings of the 6th Latin American Robotics Symposium (LARS'2009), Valparaíso-Chile, pages 1-6, DOI: 10.1109/LARS.2009.5418323

25 features

Class (target)nominal4 unique values
0 missing
V13numeric1570 unique values
0 missing
V24numeric1856 unique values
0 missing
V23numeric1758 unique values
0 missing
V22numeric1736 unique values
0 missing
V21numeric1355 unique values
0 missing
V20numeric1136 unique values
0 missing
V19numeric1042 unique values
0 missing
V18numeric971 unique values
0 missing
V17numeric1083 unique values
0 missing
V16numeric1295 unique values
0 missing
V15numeric1465 unique values
0 missing
V14numeric1487 unique values
0 missing
V1numeric1977 unique values
0 missing
V12numeric1797 unique values
0 missing
V11numeric1873 unique values
0 missing
V10numeric2003 unique values
0 missing
V9numeric1870 unique values
0 missing
V8numeric2068 unique values
0 missing
V7numeric1530 unique values
0 missing
V6numeric1828 unique values
0 missing
V5numeric1822 unique values
0 missing
V4numeric1767 unique values
0 missing
V3numeric1786 unique values
0 missing
V2numeric2034 unique values
0 missing

107 properties

5456
Number of instances (rows) of the dataset.
25
Number of attributes (columns) of the dataset.
4
Number of distinct values of the target attribute (if it is nominal).
0
Number of missing values in the dataset.
0
Number of instances with at least one value missing.
24
Number of numeric attributes.
1
Number of nominal attributes.
0.93
Average class difference between consecutive instances.
0.99
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.DecisionStump -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
0.01
Error rate achieved by the landmarker weka.classifiers.trees.DecisionStump -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
0.98
Kappa coefficient achieved by the landmarker weka.classifiers.trees.DecisionStump -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
0.99
Area Under the ROC Curve achieved by the landmarker weka.classifiers.bayes.NaiveBayes -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
0.01
Error rate achieved by the landmarker weka.classifiers.bayes.NaiveBayes -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
0.98
Kappa coefficient achieved by the landmarker weka.classifiers.bayes.NaiveBayes -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
0.99
Area Under the ROC Curve achieved by the landmarker weka.classifiers.lazy.IBk -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
0.01
Error rate achieved by the landmarker weka.classifiers.lazy.IBk -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
0.98
Kappa coefficient achieved by the landmarker weka.classifiers.lazy.IBk -E "weka.attributeSelection.CfsSubsetEval -P 1 -E 1" -S "weka.attributeSelection.BestFirst -D 1 -N 5" -W
1.71
Entropy of the target attribute values.
0.78
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.DecisionStump
0.3
Error rate achieved by the landmarker weka.classifiers.trees.DecisionStump
0.5
Kappa coefficient achieved by the landmarker weka.classifiers.trees.DecisionStump
0
Number of attributes divided by the number of instances.
Number of attributes needed to optimally describe the class (under the assumption of independence among attributes). Equals ClassEntropy divided by MeanMutualInformation.
1
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.J48 -C .00001
0.01
Error rate achieved by the landmarker weka.classifiers.trees.J48 -C .00001
0.99
Kappa coefficient achieved by the landmarker weka.classifiers.trees.J48 -C .00001
1
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.J48 -C .0001
0.01
Error rate achieved by the landmarker weka.classifiers.trees.J48 -C .0001
0.99
Kappa coefficient achieved by the landmarker weka.classifiers.trees.J48 -C .0001
1
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.J48 -C .001
0.01
Error rate achieved by the landmarker weka.classifiers.trees.J48 -C .001
0.99
Kappa coefficient achieved by the landmarker weka.classifiers.trees.J48 -C .001
40.41
Percentage of instances belonging to the most frequent class.
2205
Number of instances belonging to the most frequent class.
Maximum entropy among attributes.
14.35
Maximum kurtosis among attributes of the numeric type.
3.35
Maximum of means among attributes of the numeric type.
Maximum mutual information between the nominal attributes and the target attribute.
4
The maximum number of distinct values among attributes of the nominal type.
3.83
Maximum skewness among attributes of the numeric type.
1.72
Maximum standard deviation of attributes of the numeric type.
Average entropy of the attributes.
2.37
Mean kurtosis among attributes of the numeric type.
2.05
Mean of means among attributes of the numeric type.
Average mutual information between the nominal attributes and the target attribute.
An estimate of the amount of irrelevant information in the attributes regarding the class. Equals (MeanAttributeEntropy - MeanMutualInformation) divided by MeanMutualInformation.
4
Average number of distinct values among the attributes of the nominal type.
1.52
Mean skewness among attributes of the numeric type.
1.25
Mean standard deviation of attributes of the numeric type.
Minimal entropy among attributes.
-1.6
Minimum kurtosis among attributes of the numeric type.
0.91
Minimum of means among attributes of the numeric type.
Minimal mutual information between the nominal attributes and the target attribute.
4
The minimal number of distinct values among attributes of the nominal type.
0.02
Minimum skewness among attributes of the numeric type.
0.8
Minimum standard deviation of attributes of the numeric type.
6.01
Percentage of instances belonging to the least frequent class.
328
Number of instances belonging to the least frequent class.
0.79
Area Under the ROC Curve achieved by the landmarker weka.classifiers.bayes.NaiveBayes
0.47
Error rate achieved by the landmarker weka.classifiers.bayes.NaiveBayes
0.36
Kappa coefficient achieved by the landmarker weka.classifiers.bayes.NaiveBayes
0
Number of binary attributes.
0
Percentage of binary attributes.
0
Percentage of instances having missing values.
0
Percentage of missing values.
96
Percentage of numeric attributes.
4
Percentage of nominal attributes.
First quartile of entropy among attributes.
-0.97
First quartile of kurtosis among attributes of the numeric type.
1.27
First quartile of means among attributes of the numeric type.
First quartile of mutual information between the nominal attributes and the target attribute.
0.72
First quartile of skewness among attributes of the numeric type.
1.12
First quartile of standard deviation of attributes of the numeric type.
Second quartile (Median) of entropy among attributes.
-0.08
Second quartile (Median) of kurtosis among attributes of the numeric type.
2.16
Second quartile (Median) of means among attributes of the numeric type.
Second quartile (Median) of mutual information between the nominal attributes and the target attribute.
1.18
Second quartile (Median) of skewness among attributes of the numeric type.
1.29
Second quartile (Median) of standard deviation of attributes of the numeric type.
Third quartile of entropy among attributes.
5.98
Third quartile of kurtosis among attributes of the numeric type.
2.73
Third quartile of means among attributes of the numeric type.
Third quartile of mutual information between the nominal attributes and the target attribute.
2.54
Third quartile of skewness among attributes of the numeric type.
1.4
Third quartile of standard deviation of attributes of the numeric type.
1
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.REPTree -L 1
0.01
Error rate achieved by the landmarker weka.classifiers.trees.REPTree -L 1
0.99
Kappa coefficient achieved by the landmarker weka.classifiers.trees.REPTree -L 1
1
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.REPTree -L 2
0.01
Error rate achieved by the landmarker weka.classifiers.trees.REPTree -L 2
0.99
Kappa coefficient achieved by the landmarker weka.classifiers.trees.REPTree -L 2
1
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.REPTree -L 3
0.01
Error rate achieved by the landmarker weka.classifiers.trees.REPTree -L 3
0.99
Kappa coefficient achieved by the landmarker weka.classifiers.trees.REPTree -L 3
0.98
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.RandomTree -depth 1
0.03
Error rate achieved by the landmarker weka.classifiers.trees.RandomTree -depth 1
0.96
Kappa coefficient achieved by the landmarker weka.classifiers.trees.RandomTree -depth 1
0.98
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.RandomTree -depth 2
0.03
Error rate achieved by the landmarker weka.classifiers.trees.RandomTree -depth 2
0.96
Kappa coefficient achieved by the landmarker weka.classifiers.trees.RandomTree -depth 2
0.98
Area Under the ROC Curve achieved by the landmarker weka.classifiers.trees.RandomTree -depth 3
0.03
Error rate achieved by the landmarker weka.classifiers.trees.RandomTree -depth 3
0.96
Kappa coefficient achieved by the landmarker weka.classifiers.trees.RandomTree -depth 3
0
Standard deviation of the number of distinct values among attributes of the nominal type.
0.9
Area Under the ROC Curve achieved by the landmarker weka.classifiers.lazy.IBk
0.14
Error rate achieved by the landmarker weka.classifiers.lazy.IBk
0.79
Kappa coefficient achieved by the landmarker weka.classifiers.lazy.IBk

11 tasks

0 runs - estimation_procedure: 20% Holdout (Ordered) - target_feature: Class
0 runs - estimation_procedure: 10-fold Crossvalidation - target_feature: Class
0 runs - estimation_procedure: Leave one out - target_feature: Class
0 runs - estimation_procedure: 10% Holdout set - target_feature: Class
0 runs - estimation_procedure: 33% Holdout set - target_feature: Class
0 runs - estimation_procedure: Test on Training Data - target_feature: Class
0 runs - estimation_procedure: 5 times 2-fold Crossvalidation - target_feature: Class
0 runs - estimation_procedure: 10 times 10-fold Crossvalidation - target_feature: Class
0 runs - estimation_procedure: 10 times 10-fold Learning Curve - target_feature: Class
0 runs - estimation_procedure: 10-fold Learning Curve - target_feature: Class
0 runs - estimation_procedure: Interleaved Test then Train - target_feature: Class
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