AuRo_evolving_sobot_data

Naming convention:

• Pink refers to the low accuracy model
• Red refers to the high accuracy model
• s18 in the naming refers to the training jobs ran using seed18
• s0 in the naming refers to the training jobs ran using seed0. If a dirctory does not have any info related to seed (e.g. does not say s0 or s18) it will be defauted as a training job initated using seed0
• SM or SiliconeM refers to the surface silicone mat.
• CB refers to the surface cardboard
• TB refers to the surface table

Pressure logs info

• pressure_logs folder stores all the pressure profiles recorded from sim-to-real transfer experiments. Logs involve pressure recorded from built-in sensors of the pressure regulator (Enfield TR-010-gs), a upstream honeywell sensor(Honeywell SSCMANV030PA2A3), and commanded pressure input.

• The logs decoder are included in the folder for analysis.

• A knock down factor is applied to some specific pressure profiles together with the calibrated pressure regulator profile to avoid overshooting, which will result in a disagreement between commended pressure recorded from logs and input pressure. In this case, please refer to the input pressure profile.

• We tuned the PID gain using the software provide by Enfieldtech.

• This online data set includes some measurements that were not admissible for analysis:

  • Cloth: some robots were tested on a cloth surface that slid too much against the cardboard to which it was attached, making the effect of friction unclear.
  • Cut mat: Too few robots were tested on the surface; a comparison cannot be made.
  • Policies with no warp: Subject to a bug where the action warp was accidentally omitted; therefore not admissible.