EvidenceHorizonScenario

Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/proposers.py.

Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.

site’s conveyor target tracked by machine’s chunk policy: evidence horizon against renewal.

Notes

Equation: horizon comparison = EvidenceHorizonModel.solve(site error budget, target motion, slip, and chunk schedule).

Assumptions: Slip acceleration and renewal rate use site and machine defaults unless overridden.

Excludes: A measured grasp-success probability or a certified stopping/control guarantee.

References

Derivation: This configuration forwards its stored inputs to mlsysim.solvers.EvidenceHorizonModel.solve. The solver contract records the equations and their provenance.

Examples

The named scenario supplies illustrative inputs; the output is calculated.

>>> from mlsysim import Scenarios
>>> case = Scenarios.ConveyorMugEvidenceHorizon
>>> round(float(case.a_slip.to('m/s²').magnitude), 3)
0.5

Attributes

Name	Description
a_slip	Residual target-slip acceleration from the site, unless explicitly overridden.
chunk_rate
machine
renewal_rate	Chunk renewal frequency from the machine, unless explicitly overridden.
result	Modeled result from mlsysim.solvers.EvidenceHorizonModel.solve using this
site
slip_acceleration

site

Type: Any.

Declared default: required.

machine

Type: Any.

Declared default: required.

slip_acceleration

Type: Optional[Quantity].

Declared default: None.

chunk_rate

Type: Optional[Quantity].

Declared default: None.

a_slip

engine.scenario_types.EvidenceHorizonScenario.a_slip

Residual target-slip acceleration from the site, unless explicitly overridden.

Equation: return site.a_conveyor_slip if slip_acceleration is None else slip_acceleration.

renewal_rate

engine.scenario_types.EvidenceHorizonScenario.renewal_rate

Chunk renewal frequency from the machine, unless explicitly overridden.

Equation: return machine.chunk_rate if chunk_rate is None else chunk_rate.

result

engine.scenario_types.EvidenceHorizonScenario.result

Modeled result from mlsysim.solvers.EvidenceHorizonModel.solve using this scenario’s declared inputs; see that method for units, limits, and feasibility.

Equation: Delegates the declared fields to mlsysim.solvers.EvidenceHorizonModel.solve; returned quantities and feasibility follow that contract.