OnRobotFineTuneScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/learning.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
interaction_steps setpoints step apart collected on the machine to absorb a plate_offset, of which exceed_fraction cross the contact tripwire.
Notes
Equation: Rate is 1/step, active time is count*step, and expected exceedances are rounded count*fraction.
Assumptions: Every interaction consumes one equal-length interval; exceed_fraction is supplied.
Excludes: Training efficacy, convergence, and force-limit guarantees.
References
Derivation: Equally spaced setpoints have frequency 1/step and consume count*step of active time. Multiplying the count by the supplied exceedance fraction gives an expected count, rounded to an integer for the displayed sample budget.
Examples
>>> from mlsysim import Scenarios
>>> s = Scenarios.LatchResidualFineTune
>>> s.active_time.to("second").magnitude > 0
TrueAttributes
| Name | Description |
|---|---|
| active_time | Interaction duration in seconds for the configured setpoint count. |
| exceed_fraction | |
| exceed_samples | Tripwire-crossing sample count, rounded from the assumed crossing fraction. |
| interaction_steps | |
| plate_offset | |
| setpoint_rate | Setpoint frequency in Hz, the reciprocal of the integration interval. |
| step |
step
Type: Quantity.
Declared default: required.
interaction_steps
Type: int.
Declared default: required.
exceed_fraction
Type: float.
Declared default: required.
plate_offset
Type: Quantity.
Declared default: required.
setpoint_rate
engine.scenario_types.OnRobotFineTuneScenario.setpoint_rate
Setpoint frequency in Hz, the reciprocal of the integration interval.
Equation: (1 / step).to('Hz').
active_time
engine.scenario_types.OnRobotFineTuneScenario.active_time
Interaction duration in seconds for the configured setpoint count.
Equation: (interaction_steps * step).to('second').
exceed_samples
engine.scenario_types.OnRobotFineTuneScenario.exceed_samples
Tripwire-crossing sample count, rounded from the assumed crossing fraction.
Equation: int(round(interaction_steps * exceed_fraction)).