Index of /~stober/FSS_ML

Icon  Name                    Last modified      Size  Description
[DIR] Parent Directory - [TXT] avoid.log 26-Oct-2009 12:00 273K [TXT] camera.py 03-Nov-2009 17:55 5.8K [   ] camera_large.dat 26-Oct-2009 12:11 2.5M [TXT] random.log 26-Oct-2009 12:00 298K [IMG] scene.pgm 03-Nov-2009 17:57 415K [   ] simluted_trace.dat 03-Nov-2009 17:43 9.0M [TXT] simple.log 26-Oct-2009 12:00 257K [   ] stoberFSS09.pdf 14-Sep-2009 13:25 1.5M [   ] stoberFSS09_slides.pdf 06-Nov-2009 09:19 3.3M [   ] wandering.dat 26-Oct-2009 12:04 9.9M
RELEASE 0.1 11/6/2009
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This directory contains both simulated and real robot traces used in the following paper:

Jeremy Stober, Lewis Fishgold, and Benjamin Kuipers. 2009. Sensor Map Discovery for Developing Robots. AAAI Fall Symposia Series: Manifold Learning and Its Applications.

CONTENTS
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The following three traces were used to generate the results in section on "Policies and Reconstruction Error."
 
simple.log
avoid.log
random.log

The simulated data used in reconstruction experiments is found in the following trace:

simulated_trace.dat

The roving eye trace data is found in the following trace:

camera_large.dat

The sensor trace taken from a real Pioneer robot with laser and sonar sensors in also included:

wandering.dat

The simulated data was generated using PyRobot but can be easily generated using Player/Stage directly. Source files for trace simulation are not yet included due to all the dependencies.

Code for simulating the roving eye is included: 

camera.py 

See the source code for details for how to run this program. We used scene.pgm as the source image.