From eefd45f0ab3104a23eca199411f316510a03cae6 Mon Sep 17 00:00:00 2001 From: HanaeRateau Date: Tue, 12 May 2026 14:00:01 +0200 Subject: [PATCH 1/9] Includes requirements file in dependencies --- lab_AI.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/lab_AI.md b/lab_AI.md index 3864153..1fc3e83 100644 --- a/lab_AI.md +++ b/lab_AI.md @@ -17,7 +17,12 @@ In this lab you will learn: We are going to need third-parties libraries for this lab. Click the button below to install them: -#python-button("-m pip install --target 'assets/labs/lab_AI/modules/site-packages' -r 'assets/labs/lab_AI/requirements.txt'") +#python-button(pyargs=["-m pip install --target", "assets/labs/lab_AI/modules/site-packages", "-r", "assets/labs/lab_AI/requirements.txt"]) + +This will install the following libraries: +``` +#include(assets/labs/lab_AI/requirements.txt) +``` ::: From 6991ef2745a4bbd9dd71b4df71645496330e8073 Mon Sep 17 00:00:00 2001 From: HanaeRateau Date: Tue, 12 May 2026 15:26:02 +0200 Subject: [PATCH 2/9] adds dataset exlanations and fixes direct generation and explanation --- data/results/blueleg_beam_cube.csv | 1340 ----------------- data/results/blueleg_beam_cube1331.csv | 1340 +++++++++++++++++ data/results/blueleg_beam_sphere.csv | 524 ------- data/results/blueleg_beam_sphere515.csv | 524 +++++++ lab_AI.md | 8 +- lab_AI_dataset_generation.py | 6 +- sections/1_dataset.md | 60 +- .../{3_scikit-learn.md => 2_scikit-learn.md} | 0 .../{2_from_scratch.md => 3_from_scratch.md} | 0 9 files changed, 1919 insertions(+), 1883 deletions(-) delete mode 100644 data/results/blueleg_beam_cube.csv create mode 100644 data/results/blueleg_beam_cube1331.csv delete mode 100644 data/results/blueleg_beam_sphere.csv create mode 100644 data/results/blueleg_beam_sphere515.csv rename sections/{3_scikit-learn.md => 2_scikit-learn.md} (100%) rename sections/{2_from_scratch.md => 3_from_scratch.md} (100%) diff --git a/data/results/blueleg_beam_cube.csv b/data/results/blueleg_beam_cube.csv deleted file mode 100644 index ae28ac6..0000000 --- a/data/results/blueleg_beam_cube.csv +++ /dev/null @@ -1,1340 +0,0 @@ -# extended ;1 -# legs ;['blueleg'] -# legs model ;['beam'] -# legs young modulus ;[35000.] -# legs poisson ratio ;[0.45] -# legs position on motor ;['counterclockwisedown', 'clockwisedown', 'counterclockwisedown', 'clockwisedown'] -# connector ;bluepart -# connector type ;rigid -Effector position;Motor angle -[-39.96175515 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0.2316763864319179, -0.6102743849510138, 0.9808890051135248] -[ 15.83989451 -169.65995261 -7.9261922 ];[-0.8061512286996856, 0.24057487320415577, -0.4353691318148857, 0.9922458457289418] -[ 15.82388515 -169.58286385 -15.82388658];[-1.0332800142121275, 0.2719796964501233, -0.271988980138274, 1.033279955054162] -[ 15.72281989 -169.20570821 -23.52905656];[-1.2761933757887947, 0.3526074136170191, -0.09789385995169411, 1.1495194077898996] -[ 15.32622396 -167.89915839 -30.57701002];[-1.3771921334435533, 0.47422996197892064, 0.10527043532105265, 1.345662744121651] -[ 14.44616893 -164.74657142 -35.77853437];[-1.3814184512346026, 0.5140706948922243, 0.3156227670663734, 1.3456627441216509] -[ 21.00409543 -163.22444866 -34.89995935];[-1.3814184512346026, 0.2682385185588328, 0.28245300749487956, 1.409705706238547] -[ 22.16595149 -166.08670451 -29.58769765];[-1.3814184512346024, 0.2244161078452489, 0.06826157558169389, 1.4264005487344407] -[ 23.17624858 -168.38138979 -23.17672754];[-1.4460496841858648, 0.13216989852847522, -0.18752630621973881, 1.2578365332042827] -[ 23.51508529 -169.19248002 -15.72338957];[-1.16813039152894, 0.0834086289444921, -0.3637629065901239, 1.2252432563989784] -[ 23.62934733 -169.43316041 -7.90092665];[-0.8966084653955918, 0.07281551148596342, -0.5136753361578712, 1.2436365216939549] -[ 2.36365566e+01 -1.69460642e+02 2.03185789e-05];[-0.6911504815519017, 0.06412534296867133, -0.691064779184457, 1.229176271059877] -[ 23.62884536 -169.43264602 7.90098958];[-0.5142388391894887, 0.07241887012656573, -0.8971361049701977, 1.242521312163083] -[ 23.55328335 -169.23676297 15.72739052];[-0.3381172161468806, 0.11157177944521299, -1.122384967593379, 1.3143518538834533] -[ 23.09034965 -168.26370622 23.11502043];[-0.1280731425513637, 0.17819870798074908, -1.24818805785431, 1.4000034559828256] -[ 22.06939267 -165.89895976 29.38868285];[0.08318788780523831, 0.2235812850813556, -1.3281195688146896, 1.4121322318502822] -[ 21.18607634 -163.42876212 35.06620343];[0.26253722757092385, 0.26216348044573556, -1.4443352449023201, 1.412132231850282] -[ 27.11954193 -161.53655 34.16773821];[0.22908265721397195, 0.04886390663660904, -1.4443352449023192, 1.4812295391658168] -[ 28.35926075 -163.83038825 28.56385877];[0.03244435773072658, -0.002062528511584394, -1.378088184977595, 1.4812295391658172] -[ 29.3410825 -165.90156407 22.14176816];[-0.1755236060877878, -0.04176787877649116, -1.2694735397215249, 1.4812295391658172] -[ 30.29144643 -167.61071184 15.25271322];[-0.4081329047313612, -0.07810638297657724, -1.1782346412960054, 1.4812295391658177] -[ 30.8767989 -168.54687603 7.77380147];[-0.6320705749273767, -0.10226896418169487, -1.0314452540285304, 1.4812295391658177] -[ 3.10012245e+01 -1.68743134e+02 -1.79643467e-04];[-0.8326107936328132, -0.10990685316546206, -0.8328071942285551, 1.4812295391658177] -[ 30.87720858 -168.54751476 -7.77416118];[-1.0315580898448926, -0.10226825590151227, -0.6324108727378468, 1.4812295391658177] -[ 30.38483863 -167.74285033 -15.32148505];[-1.2089788474735748, -0.07846497857886911, -0.4215405051612965, 1.4909154818672983] -[ 29.44977678 -166.06865926 -22.25476685];[-1.319368455679348, -0.04258070057178813, -0.19231404047114978, 1.4909154818672983] -[ 28.30007605 -163.74465114 -28.25380559];[-1.3193684556793486, 0.0012464273999104325, 0.0425764922274339, 1.4909154818672987] -[ 27.35831562 -161.50722554 -33.80485605];[-1.4087469075246628, 0.040361659389007806, 0.22689994539687103, 1.4909154818672987] -[ 32.38209682 -159.39123722 -33.02452002];[-1.4087469075246624, -0.15190020589961706, 0.1989561079692092, 1.5047226258115032] -[ 33.89565714 -161.31230358 -27.73973211];[-1.3858180572266052, -0.20641762642156364, -0.0011222774775029448, 1.5319199988056873] -[ 34.7908826 -163.09680632 -21.26469037];[-1.2568232362963132, -0.2439724095956537, -0.20415118081359754, 1.5319199988056873] -[ 35.74900617 -164.70808223 -14.53370168];[-1.195313885905933, -0.2750922152703228, -0.4469576572292179, 1.552437201981196] -[ 36.46986558 -165.81056232 -7.37358694];[-1.104946417247003, -0.30083941712505263, -0.7066061390634325, 1.5524372019811965] -[ 3.67840453e+01 -1.66273032e+02 -3.65439603e-03];[-0.9501954038397933, -0.31037756082567675, -0.9499773353447922, 1.5524372019811965] -[ 36.49921894 -165.85163656 7.36990736];[-0.7142232836235356, -0.3018095790579539, -1.1148006554827892, 1.5524372019811967] -[ 35.8102536 -164.80261022 14.50371243];[-0.4604145834390506, -0.2770356221876716, -1.217590287267636, 1.5524372019811965] -[ 34.82440736 -163.15897508 20.99858091];[-0.21012764329436973, -0.24029775690906463, -1.2426010201747857, 1.5524372019811965] -[ 33.90000109 -161.40748015 27.06960753];[-0.006691575576233889, -0.20335827657528718, -1.3242669057980814, 1.5524372019811965] -[ 32.87051281 -159.26370075 32.32392185];[0.19451145138082615, -0.1628088382820468, -1.3425661002318308, 1.5524372019811965] diff --git a/data/results/blueleg_beam_cube1331.csv b/data/results/blueleg_beam_cube1331.csv new file mode 100644 index 0000000..4d842b6 --- /dev/null +++ b/data/results/blueleg_beam_cube1331.csv @@ -0,0 +1,1340 @@ +# extended ;1 +# legs ;['blueleg'] +# legs model ;['beam'] +# legs young modulus ;[35000.] +# legs poisson ratio ;[0.45] +# legs position on motor ;['counterclockwisedown', 'clockwisedown', 'counterclockwisedown', 'clockwisedown'] +# connector ;bluepart +# connector type ;rigid +Effector position;Motor angle +[-39.96175319 -90.41790123 -39.9617533 ];[-0.14671493815230305, 0.14671495863621398, 2.438245119379324, -2.438245064719189] +[-39.95721404 -90.44149463 -31.95606774];[0.13278020542251584, 0.1361462088456899, 2.291810947074616, -2.4880786839009525] +[-39.95398396 -90.45504974 -23.95431237];[0.42151032888874346, 0.13590327750354508, 2.114101371561853, -2.5101908380204403] +[-39.9514658 -90.46332978 -15.96010252];[0.7230089875813547, 0.14319760751651572, 1.8982513705899897, -2.5099090246584557] +[-39.95029801 -90.4618368 -7.97632692];[1.0355881112380285, 0.15242992354764623, 1.6411482937976718, -2.499306559350879] +[-3.99504366e+01 -9.04556592e+01 -3.71598144e-09];[1.3482063788410472, 0.1566237350843377, 1.3482063413733782, -2.4934475678505583] +[-39.95029798 -90.46183701 7.9763269 ];[1.6411483233881732, 0.1524299215591997, 1.0355880724518913, -2.499306550733385] +[-39.9514658 -90.46332981 15.96010251];[1.8982513919169168, 0.1431976063501493, 0.7230089551400256, -2.509909030614221] +[-39.95398395 -90.45504983 23.95431237];[2.114101370650205, 0.13590326506085199, 0.4215103419337676, -2.510190839017309] +[-39.95721403 -90.4414947 31.95606774];[2.291810946563265, 0.1361461968015335, 0.13278021635528078, -2.488078667982854] +[-39.96175319 -90.41790124 39.9617533 ];[2.438245117769097, 0.1467149488359607, -0.14671492986357987, -2.4382450565310547] +[-31.95606778 -90.44149348 39.95721427];[2.488078779281501, -0.13278021903656137, -0.13614616867612922, -2.291810968604452] +[-31.95074983 -90.47098055 31.95074992];[2.339207542918932, -0.14677073146858444, 0.14677074432874765, -2.3392075180725564] +[-31.94759784 -90.48697768 23.94880222];[2.1596727262205526, -0.14933234601435222, 0.4396062809896361, -2.358806163917552] +[-31.94555441 -90.49734877 15.95514217];[1.9417992725549769, -0.14318142670222175, 0.7461472116764456, -2.3557791473372935] +[-31.94504669 -90.49668602 7.97327149];[1.6815637171793152, -0.1342136540721711, 1.0647670100381232, -2.342733397863045] +[-3.19455240e+01 -9.04904408e+01 2.83381468e-09];[1.383645954832629, -0.12999660300079946, 1.3836459616090193, -2.3358416103844735] +[-31.94504669 -90.49668599 -7.97327148];[1.0647669834967672, -0.13421364567647373, 1.681563717215456, -2.3427334048954926] +[-31.94555441 -90.49734875 -15.95514218];[0.7461472315677953, -0.14318144475837905, 1.9417992706247438, -2.355779142833153] +[-31.94759783 -90.48697775 -23.94880222];[0.439606291486437, -0.14933235214329219, 2.159672705537436, -2.3588061562192024] +[-31.95074983 -90.4709805 -31.95074993];[0.14677073223347042, -0.14677070850728594, 2.339207546181028, -2.3392075283667255] +[-31.95606779 -90.44149344 -39.95721427];[-0.13614616016925346, -0.13278022193104544, 2.4880787683988563, -2.2918109586598154] +[-23.95450848 -90.45308854 -39.95418569];[-0.13587910839852535, -0.42154337102627215, 2.5102736721140886, -2.1141887564460795] +[-23.94903903 -90.48471776 -31.94784274];[0.1493642897863678, -0.4396446799113153, 2.3589065186849667, -2.1597755684304714] +[-23.94469921 -90.51527932 -23.94469928];[0.4445368338516936, -0.4445368173075581, 2.1773720074265426, -2.1773720077232186] +[-23.94288347 -90.52913531 -15.95145598];[0.7538933827683721, -0.439447255529148, 1.9585641244393384, -2.1731422099172106] +[-23.9427047 -90.53100328 -7.97095623];[1.0756132688414803, -0.4305851944021051, 1.6972631992737532, -2.1592140302129894] +[-2.39428078e+01 -9.05304435e+01 -2.43050700e-09];[1.3972106945788945, -0.42619962423652946, 1.3972106692672843, -2.1517672729271253] +[-23.94270472 -90.53100318 7.97095623];[1.697263224520423, -0.4305852342954352, 1.0756132834143668, -2.1592140509057907] +[-23.94288347 -90.52913529 15.95145599];[1.958564135530507, -0.4394472906263014, 0.7538933858773061, -2.1731422187141094] +[-23.94469921 -90.51527929 23.94469928];[2.1773720153695866, -0.4445368165931736, 0.4445368202369803, -2.177372009474179] +[-23.94903901 -90.48471798 31.94784271];[2.358906524344768, -0.43964467193315276, 0.14936427234376645, -2.1597755531233265] +[-23.95450848 -90.45308849 39.9541857 ];[2.5102736766406215, -0.42154336554072314, -0.13587910142550325, -2.11418875700068] +[-15.96097876 -90.45304864 39.95256183];[2.51033513669127, -0.7232274664748326, -0.14307524307722344, -1.898705891912382] +[-15.95616536 -90.48589073 31.94681911];[2.3562796585775323, -0.7463937431961944, 0.143339540458171, -1.9423172818028558] +[-15.95240806 -90.51866088 23.94401391];[2.173613945522759, -0.7541191861005825, 0.4396221119331077, -1.9590400829760835] +[-15.94863761 -90.56032673 15.94863766];[1.9537230213033683, -0.7494730536222536, 0.7494730484399393, -1.953723019599933] +[-15.94840937 -90.56683945 7.9691212 ];[1.6930084247524568, -0.7404362872017168, 1.0717872991213864, -1.9401828748016927] +[-1.59478647e+01 -9.05750242e+01 2.67690195e-09];[1.393216844314951, -0.7356694479990675, 1.3932168563179643, -1.9326720718605026] +[-15.94840936 -90.56683949 -7.9691212 ];[1.0717872863648452, -0.7404362787453058, 1.693008427604692, -1.9401828716122511] +[-15.94863761 -90.56032678 -15.94863766];[0.7494730483714571, -0.7494730263232823, 1.9537230123690028, -1.9537230166445114] +[-15.95240807 -90.51866078 -23.94401392];[0.4396221247499229, -0.754119191453702, 2.1736139503860357, -1.9590400945796298] +[-15.95616535 -90.48589086 -31.94681909];[0.1433395578083672, -0.7463937753340645, 2.35627961715335, -1.942317268864989] +[-15.96097877 -90.45304846 -39.95256185];[-0.14307524735365093, -0.7232274882591172, 2.5103351404508403, -1.898705896150348] +[ -7.97723298 -90.44389637 -39.95226346];[-0.15222724055667344, -1.0360839055735758, 2.500026760735235, -1.6418868350580853] +[ -7.97432643 -90.47678749 -31.94726877];[0.134477085721213, -1.0653264057297476, 2.3435765212815216, -1.68240221439372] +[ -7.97205533 -90.51061211 -23.94490767];[0.43091414898307945, -1.0761886623825645, 2.1601059278951324, -1.6981271454960412] +[ -7.96969822 -90.55609566 -15.94938093];[0.7406576358212931, -1.0720861191246553, 1.9406502177349374, -1.6934569001712279] +[ -7.96731366 -90.60692009 -7.96731369];[1.0613493194328658, -1.0613493225557382, 1.6795302401569914, -1.6795302497675055] +[-7.96694595e+00 -9.06171810e+01 -1.68792155e-09];[1.3814079957260776, -1.0560911709086451, 1.3814079881892685, -1.6726906428045245] +[ -7.96731366 -90.6069201 7.96731369];[1.679530263783983, -1.0613493587616705, 1.0613493283745357, -1.679530253986409] +[ -7.96969822 -90.55609568 15.94938093];[1.9406502250570292, -1.0720861279320166, 0.7406576385358816, -1.6934569031253606] +[ -7.97205532 -90.51061217 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-0.24088590488261688, -1.2437515147353484, 1.5483286367395324] +[ 33.84949574 -161.23064602 27.26441233];[0.009125842313219952, -0.2028331209861507, -1.3066238983167158, 1.5483286367395324] +[ 32.88665775 -159.07873268 32.85555496];[0.20641528713472485, -0.16348740602712333, -1.3664242905100732, 1.548328636739532] diff --git a/data/results/blueleg_beam_sphere.csv b/data/results/blueleg_beam_sphere.csv deleted file mode 100644 index faef05d..0000000 --- a/data/results/blueleg_beam_sphere.csv +++ /dev/null @@ -1,524 +0,0 @@ -# extended ;1 -# legs ;['blueleg'] -# legs model ;['beam'] -# legs young modulus ;[35000.] -# legs poisson ratio ;[0.45] -# legs position on motor ;['counterclockwisedown', 'clockwisedown', 'counterclockwisedown', 'clockwisedown'] -# connector ;bluepart -# connector type ;rigid -Effector position;Motor angle -[-1.25021896e-13 -9.06648691e+01 1.35906610e-10];[1.3741682595051454, -1.374168284375867, 1.3741682588178878, -1.3741682843758771] -[ 2.39125979e+01 -9.84954169e+01 -1.11072037e-10];[1.1265506628710156, -1.8434176839407774, 1.1265506585724225, -0.2882980292322572] -[ 15.95617193 -98.49018309 -15.95629641];[0.5653233162876317, -1.6418778110571253, 1.6429984422137864, -0.5629344797887431] -[ 15.95467287 -98.50002404 -7.97507551];[0.8494524037555735, -1.6384294148380847, 1.3998149385141447, -0.5599381527033831] -[ 1.59536156e+01 -9.85093816e+01 -4.47172434e-07];[1.1317779403767718, -1.6353464642777964, 1.1317647035931613, -0.5575573976283918] -[ 15.95467318 -98.50003482 7.97507213];[1.399826877145062, -1.6384269713538078, 0.8494407651149284, -0.5599345506028971] -[ 15.95619934 -98.48973851 15.95619569];[1.6427464960765812, -1.6427388923090187, 0.564013359784287, -0.5640131713752644] -[ 7.97554694 -98.49052824 15.95553499];[1.6387918445824747, -1.4001569781634717, 0.5601120378991069, -0.8496857347668965] -[ 7.9731155 -98.53373544 7.97311577];[1.3950294284864537, -1.395030877784766, 0.8451554839526061, -0.8451551396201741] -[ 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-0.4013726739709723, -0.30816922085894566] -[ -23.85726041 -153.95662984 15.91093673];[0.10495398022617503, 0.7762520320031192, -0.5945011316344938, -0.28988223602459023] -[ -15.91232632 -153.95728178 23.85947237];[0.2898767401991115, 0.5945695480870982, -0.7763469214366471, -0.10500308751603735] -[ -15.91445387 -153.98170411 15.91445429];[0.13586238496130518, 0.5658867833734874, -0.5658862107565336, -0.13585440594872258] -[ -15.9141057 -153.99329823 7.9585453 ];[-0.024828987588012743, 0.5500018048960539, -0.37334876419762886, -0.1530836235401484] -[-1.59130376e+01 -1.53996825e+02 9.07315591e-09];[-0.19393112420502606, 0.5448664554075123, -0.19394609754348585, -0.15863819789730033] -[ -15.91410537 -153.99329741 -7.95854489];[-0.37333732059423264, 0.5499976827105791, -0.024847070536695517, -0.15308205234883526] -[ -15.91445418 -153.98170233 -15.91445359];[-0.5658785863931634, 0.5658782699178831, 0.1358414910527078, -0.135850794499478] -[ -15.91232425 -153.95728405 -23.85947619];[-0.7763387829060883, 0.5945642888465715, 0.28989593953826875, -0.10496589594238998] -[ -7.95839683 -153.97115247 -23.86188643];[-0.7595538984848409, 0.40146545275762835, 0.30823397011905757, 0.05418114563522534] -[ -7.9592009 -153.99340094 -15.91546333];[-0.5500386604931947, 0.37336749339980174, 0.15311402314883507, 0.024830462177167945] -[ -7.95984226 -154.00407122 -7.95984165];[-0.35775593500444136, 0.3577539930070837, -0.008405792575206383, 0.008412582521320586] -[-7.95929836e+00 -1.54007391e+02 7.92671226e-07];[-0.17810687829340524, 0.35269881134377734, -0.17809611608017994, 0.0031176622960839145] -[ -7.95984207 -154.00407036 7.95984267];[-0.008419591771011637, 0.357751006774703, -0.3577487728225692, 0.008412317341287001] -[ -7.95920066 -153.9933986 15.91546307];[0.15309773288657774, 0.3733614989655064, -0.5500353497574679, 0.02483033794201346] -[ -7.95839528 -153.9711496 23.86188532];[0.30822264044604675, 0.40145087867837, -0.7595520987632233, 0.054193668054808096] -[-9.86187845e-06 -1.53929486e+02 3.17836808e+01];[0.46653380318471627, 0.26865431432453213, -0.9883305642734536, 0.2685656458962037] -[-1.25833967e-09 -1.53975307e+02 2.38625580e+01];[0.3141659695817281, 0.22234713529523153, -0.7541665885290249, 0.22234708354140537] -[ 5.24607906e-11 -1.53996920e+02 1.59157438e+01];[0.15869669166026742, 0.1939498088812384, -0.5449374389648401, 0.19394975835166542] -[ 7.44920496e-11 -1.54007276e+02 7.95993589e+00];[-0.003095708028384059, 0.17810059748019208, -0.3527138118616985, 0.17810054676731749] -[ 1.84500983e-10 -1.54010201e+02 -1.00095517e-06];[-0.1729667294341378, 0.17297154387661157, -0.17297621516923908, 0.17297149260529326] -[ 1.47105475e-10 -1.54007275e+02 -7.95993722e+00];[-0.35270797739173176, 0.1780988767636365, -0.00310819346717771, 0.1780988256983588] -[-1.31547016e-10 -1.53996917e+02 -1.59157437e+01];[-0.5449354677682916, 0.19394653172092569, 0.15868179355886716, 0.19394651570786073] -[-2.19819779e-10 -1.53975301e+02 -2.38625554e+01];[-0.7541692446197377, 0.2223424306678755, 0.3141507545221444, 0.22234241508461994] -[-5.79226829e-08 -1.53929497e+02 -3.17836881e+01];[-0.9883237837773869, 0.2686255967062552, 0.46656056166188703, 0.2686255689402426] -[ 7.95839306 -153.97115717 -23.86189056];[-0.759545074882828, 0.05422400408295924, 0.30825152808914535, 0.4014457458049741] -[ 7.9592009 -153.99340094 -15.91546333];[-0.5500386588326159, 0.024830480700432655, 0.15311401471324493, 0.37336747139629833] -[ 7.95984226 -154.00407122 -7.95984165];[-0.3577559416414781, 0.00841260084565158, -0.00840580157720119, 0.3577539712830279] -[ 7.95929836e+00 -1.54007391e+02 7.92052480e-07];[-0.17810688747645143, 0.003117681232827768, -0.1780961284069175, 0.3526987901639628] -[ 7.95984207 -154.00407035 7.95984267];[-0.008419603586830563, 0.008412336352349226, -0.3577487872903228, 0.3577509870388086] -[ 7.95920066 -153.99339858 15.91546307];[0.1530977170080836, 0.02483036761913971, -0.5500353681778235, 0.37336148351422177] -[ 7.95839528 -153.97114959 23.86188531];[0.3082226182057009, 0.054193687224158904, -0.7595521196038105, 0.40145086353643245] -[ 15.91232311 -153.95728596 23.8594787 ];[0.28990392983758617, -0.10495410945687288, -0.7763351777329283, 0.5945635271732885] -[ 15.91445386 -153.9817041 15.91445429];[0.1358623516816955, -0.13585441598879053, -0.5658862439890875, 0.5658867968666985] -[ 15.91410569 -153.99329822 7.9585453 ];[-0.02482901872823322, -0.15308362806067904, -0.37334878047112946, 0.5500018042022621] -[ 1.59130376e+01 -1.53996825e+02 1.02206366e-08];[-0.19393114425205998, -0.15863818329681673, -0.19394610611834437, 0.5448664430161672] -[ 15.91410536 -153.99329741 -7.95854489];[-0.373337335670183, -0.15308203787761482, -0.024847084318239884, 0.5499977098940787] -[ 15.91445418 -153.98170232 -15.91445359];[-0.5658786021215155, -0.13585077635213844, 0.13584148415612407, 0.5658782928669697] -[ 15.91232424 -153.95728404 -23.85947618];[-0.7763388010560651, -0.10496587871954768, 0.2898959301655793, 0.5945643158198683] -[ 23.8572575 -153.95662665 -15.91094227];[-0.594507821081538, -0.28985449105159583, 0.10500438644626017, 0.7762643158425314] -[ 23.85746876 -153.97025564 -7.95706345];[-0.401392851452985, -0.3081732013489422, -0.054165188164911594, 0.7594071711724053] -[ 2.38559745e+01 -1.53974156e+02 -1.73396654e-06];[-0.22229884435178376, -0.31406073589032857, -0.2222754833067704, 0.7539572147205849] -[ 23.85746784 -153.97025496 7.95705973];[-0.054191661899947535, -0.3081692249849217, -0.40137270486246013, 0.7594020593769202] -[ 23.8572604 -153.95662983 15.91093673];[0.10495395609322261, -0.2898822398043269, -0.5945011635958968, 0.7762520457456968] -[ 3.17732500e+01 -1.53926233e+02 -1.50295326e-05];[-0.267491750666681, -0.4657898636358685, -0.26891886798638315, 0.9877251666841056] -[ 2.38053561e+01 -1.61814578e+02 -3.13728466e-09];[-0.423508645017455, -0.12237704050096593, -0.4235087432828055, 0.9643300761695885] -[ 15.88991304 -161.8415809 -15.89007835];[-0.7682226901404784, 0.058001914902204785, -0.05921410546833025, 0.7684742750046153] -[ 15.89207507 -161.86464391 -7.9485192 ];[-0.5675679596660269, 0.037699892012482125, -0.21678839724671906, 0.7469751710215601] -[ 1.58915371e+01 -1.61870001e+02 1.24852378e-06];[-0.38532074963842633, 0.03117469761780238, -0.3852998447881396, 0.740175506180658] -[ 15.89207588 -161.8646443 7.94852136];[-0.21681117161833433, 0.037702805501204556, -0.5675505144377834, 0.7469695338293836] -[ 15.88997229 -161.84155254 15.88997199];[-0.058436152052148214, 0.05842732121437538, -0.7685691062583269, 0.7685697171343084] -[ 7.94925047 -161.86654456 15.89360575];[-0.03771860570671207, 0.21682778410948397, -0.7470694737653029, 0.5676418424548453] -[ 7.95169942 -161.89084987 7.95169823];[-0.19684157616701808, 0.19684938576112507, -0.5475549476764243, 0.5475513671042068] -[ 7.95136098e+00 -1.61895473e+02 -1.66295844e-06];[-0.3656404691211562, 0.19051078891292786, -0.36565541173480476, 0.5411558196447518] -[ 7.95169979 -161.89084937 -7.95170102];[-0.5475436306680475, 0.19684977086705074, -0.19685830230615411, 0.5475476552672888] -[ 7.94925219 -161.86654487 -15.89360772];[-0.7470631452301988, 0.21683909163904147, -0.03772870793485865, 0.5676295684935756] -[-9.70978926e-07 -1.61821934e+02 -2.38131874e+01];[-0.9647969660679008, 0.4237125504102495, 0.12231985605979134, 0.4237941484670314] -[ 5.58714546e-09 -1.61873646e+02 -1.58946046e+01];[-0.7403583203791072, 0.38541696359907995, -0.031198343684181427, 0.38541700341264284] -[ 5.18667587e-09 -1.61896974e+02 -7.95206286e+00];[-0.5412153682798846, 0.3656874796118858, -0.1905261191401067, 0.3656875172458138] -[ 4.94620992e-09 -1.61906652e+02 1.70060172e-06];[-0.3595510039573395, 0.3595444671747443, -0.3595378186336885, 0.35954450497970936] -[ 5.26746088e-09 -1.61896973e+02 7.95206581e+00];[-0.1905410235375232, 0.3656857380077302, -0.5412058498222252, 0.36568577507911065] -[ 6.43294629e-09 -1.61873643e+02 1.58946058e+01];[-0.031212455729683883, 0.38541361544695135, -0.7403532142614736, 0.38541360685680626] -[ 5.05290147e-09 -1.61821938e+02 2.38131876e+01];[0.12233894060474901, 0.4237654241859445, -0.9647988836426036, 0.42376542266249845] -[ -7.94925383 -161.86654811 15.89360621];[-0.03770084296006541, 0.5676219168392258, -0.7470671517421597, 0.21686733712364356] -[ -7.95169941 -161.89084989 7.95169823];[-0.19684154311415722, 0.547551348144975, -0.5475549068797237, 0.1968493978838217] -[-7.95136097e+00 -1.61895473e+02 -1.66684262e-06];[-0.36564042071021424, 0.5411558087550941, -0.3656553926551092, 0.19051080444841842] -[ -7.95169978 -161.89084939 -7.95170103];[-0.547543594710566, 0.5475476391146673, -0.1968582742726685, 0.19684978694506428] -[ -7.94925218 -161.86654488 -15.89360772];[-0.7470631147192234, 0.5676295574556589, -0.03772867772161351, 0.216839116704648] -[ -15.8899724 -161.84155303 -15.88997252];[-0.7685697711216836, 0.7685692505029711, -0.05842724918625044, 0.058436026803069634] -[ -15.89207506 -161.86464393 -7.94851921];[-0.5675679011418402, 0.7469751471790946, -0.21678833629316652, 0.03769990386675513] -[-1.58915371e+01 -1.61870001e+02 1.23966199e-06];[-0.3853206601067901, 0.7401754747278609, -0.3852998097403327, 0.031174721006095897] -[ -15.89207588 -161.86464432 7.94852136];[-0.21681111221120863, 0.7469695065407839, -0.5675504495381862, 0.03770283660611247] -[ -15.88997229 -161.84155258 15.889972 ];[-0.058436093750048386, 0.768569723713873, -0.7685690355575892, 0.0584273482548823] -[-2.38056441e+01 -1.61814817e+02 -1.22610272e-04];[-0.42261062856657616, 0.9641629944638216, -0.42396156277283914, -0.12187364597798109] -[-2.30966517e-02 -1.69757385e+02 -1.70545311e-07];[-0.5694635144436553, 0.5752950339224056, -0.5694634630594128, 0.5634260489752585] diff --git a/data/results/blueleg_beam_sphere515.csv b/data/results/blueleg_beam_sphere515.csv new file mode 100644 index 0000000..1dafe9c --- /dev/null +++ b/data/results/blueleg_beam_sphere515.csv @@ -0,0 +1,524 @@ +# extended ;1 +# legs ;['blueleg'] +# legs model ;['beam'] +# legs young modulus ;[35000.] +# legs poisson ratio ;[0.45] +# legs position on motor ;['counterclockwisedown', 'clockwisedown', 'counterclockwisedown', 'clockwisedown'] +# connector ;bluepart +# connector type ;rigid +Effector position;Motor angle +[-5.77320380e-10 -9.06648691e+01 -1.62415454e-10];[1.3741682657227816, -1.3741682874012078, 1.3741682567130564, -1.374168255514899] +[ 2.39429406e+01 -9.84811032e+01 -2.94787835e-10];[1.1294620766864052, -1.8498635650124466, 1.1294620696612285, -0.27633724265620485] +[ 15.95619839 -98.4897368 -15.95619844];[0.5640166728322394, -1.6427420803056818, 1.6427420584424781, -0.5640166567782254] +[ 15.95467292 -98.50002905 -7.97507383];[0.8494464717220014, -1.6384287369371628, 1.3998209001775819, -0.5599369813637924] +[ 1.59536155e+01 -9.85093822e+01 -1.02740037e-09];[1.131771434790632, -1.6353467417797347, 1.1317714286345018, -0.5575576219077296] +[ 15.95467292 -98.50002906 7.97507383];[1.3998209005863143, -1.6384287256981032, 0.8494464655312559, -0.5599369746079415] +[ 15.95619839 -98.48973684 15.95619844];[1.6427420571037068, -1.6427420804402157, 0.564016664942112, -0.5640166565041816] +[ 7.97554524 -98.49053237 15.95553497];[1.6387914783266495, -1.4001628994674786, 0.5601111294148708, -0.8496796088500554] +[ 7.9731158 -98.53373546 7.97311583];[1.395030577881612, -1.3950306125929717, 0.8451543505881125, -0.845154341441914] +[ 7.97252874e+00 -9.85436504e+01 1.85449082e-09];[1.1273804631731763, -1.392176273337603, 1.127380474340366, -0.8427317368683975] +[ 7.9731158 -98.5337355 -7.97311583];[0.845154348068954, -1.3950306181580538, 1.395030571059124, -0.8451543336058704] +[ 7.97554525 -98.49053233 -15.95553497];[0.5601111437225897, -1.4001629088648606, 1.638791498367142, -0.8496796194865488] +[ 3.22239156e-09 -9.84542342e+01 -2.39461497e+01];[0.2767094401748295, -1.1303032598917575, 1.850905518674569, 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2.21034675e-09];[-0.42350794693647736, 0.9643341719245511, -0.42350793614481763, -0.12237500644961113] +[-1.11507286e-08 -1.69779206e+02 1.88621963e-09];[-0.5701903272034973, 0.570190348714789, -0.5701903114477327, 0.5701903974770745] diff --git a/lab_AI.md b/lab_AI.md index 1fc3e83..4e8c90b 100644 --- a/lab_AI.md +++ b/lab_AI.md @@ -27,8 +27,10 @@ This will install the following libraries: ::: #include(assets/labs/modules/camera_calibration.md) -#include(assets/labs/lab_AI/sections/3_scikit-learn.md) +#include(assets/labs/lab_AI/sections/1_dataset.md) +#include(assets/labs/lab_AI/sections/2_scikit-learn.md) +#include(assets/labs/lab_AI/sections/3_from_scratch.md) +#include(assets/labs/lab_AI/sections/4_pytorch.md) ## Appendix -#include(assets/labs/lab_AI/sections/change_dataset.md) -#include(assets/labs/lab_AI/sections/1_dataset.md) \ No newline at end of file +#include(assets/labs/lab_AI/sections/change_dataset.md) \ No newline at end of file diff --git a/lab_AI_dataset_generation.py b/lab_AI_dataset_generation.py index 812d8ec..60b0cdb 100644 --- a/lab_AI_dataset_generation.py +++ b/lab_AI_dataset_generation.py @@ -35,9 +35,9 @@ def __init__(self, emio, target, effector, assembly, shape, steps=20, direct=Fal self.animationSteps = steps self.animationStep = self.animationSteps - self.motorsAngle = [np.copy(self.emio.getChild(f'Motor{i}').JointActuator.value.value) for i in range(4)] + self.motorsAngle = [np.copy(self.emio.getChild(f'Motor{i}').JointActuator.value.value) for i in range(4)] if direct else [np.copy(self.emio.getChild(f'Motor{i}').JointActuator.angle.value) for i in range(4)] self.motorsAngleGoals=self.targetsPosition[self.targetIndex] - self.motorStep = [(self.motorsAngleGoals[i]-self.emio.getChild(f'Motor{i}').JointActuator.value.value)/(self.animationSteps-1) for i in range(4)] + self.motorStep = [(self.motorsAngleGoals[i]-self.emio.getChild(f'Motor{i}').JointActuator.value.value)/(self.animationSteps-1) for i in range(4)] if direct else [] self.direct = direct @@ -61,7 +61,7 @@ def onAnimateBeginEvent(self, _): self.animationStep = self.animationSteps self.effector.effectorGoal = [list(self.targetsPosition[self.targetIndex]) + [0, 0, 0, 1]] self.targetReached = False - elif self.assembly.done: + elif self.direct and self.assembly.done: self.animationStep -= 1 if self.targetIndex >= 0 and self.animationStep <= 0: self.writeToCSVFile() diff --git a/sections/1_dataset.md b/sections/1_dataset.md index 63a31d1..ab239b0 100644 --- a/sections/1_dataset.md +++ b/sections/1_dataset.md @@ -1,11 +1,46 @@ -:::::: collapse Dataset Generation + +:::::: collapse Datasets +## Datasets -We can use the simulation to generate the dataset. -Since we want to train a model that recovers the motors angles based on a desired 3D position of the end effector, the dataset will need these data: +The datasets used in this lab are in CSV files containing the motors angles and the corresponding end-effector positions of Emio. The datasets are located in the `assets/labs/lab_AI/data/results` folder. Both datasets have the following fields: - the four motors angles _m0_, _m1_, _m2_ and _m3_ - the 3D position of the effector _pos_ -The datasets can then be used to train the model. In this lab, we will only use a simple 2-layer perceptron. + +### Inverse Simulation +The inverse simulation is used to get the motors angles based on a desired position for the TCP (Tool Center Part) of the robot (i.e., the center part). +To create the desired target positions we want, we sample points on geometric shapes; cube or sphere with a ratio defining the distance between two points relative to the shape size. + +Two datasets, created in simulation, are available: +- `blueleg_beam_cube1331.csv`: by sampling 1331 points in a cube +- `blueleg_beam_sphere515.csv`: by sampling 515 points in a sphere + +They have been generated using the SOFA simulation of Emio, with the script `dataset_generation.py`. + +You can take a look at `blueleg_beam_cube1331.csv`: +#open-button(file="assets/labs/lab_AI/data/results/blueleg_beam_cube1331.csv") + +### Direct Simulation +Here, we explore the workspace by directly applying angle orders to the motors then measuring through the simulation the resulting TCP position. + +Two datasets, created in simulation, are available: +- `blueleg_beam_direct625.csv`: bby combinating **five** possible angles for the four motors, leading nto 625 points +- `blueleg_beam_direct2401.csv`: by combinating **seven** possible angles for the four motors, leading nto 2401 points + + +You can take a look at `blueleg_beam_direct625.csv`: +#open-button(file="assets/labs/lab_AI/data/results/blueleg_beam_direct625.csv") + +### Real Robot + +Equivalent datasets were recorded on the Emio robot using a high precision magnetic sensor: +- `blueleg_beam_real_cube2197.csv`: by sampling 2197 points in a cube, contains both the simulated and measured effector positions +- `blueleg_beam_real_sphere1018.csv`: : by sampling 1018 points in a sphere, contains both the simulated and measured effector positions + +These datasets were created by tracking the robot's tool center point (TCP) position with a _Polhemus_ magnetic tracker. These datasets have an extra column `Real Position` with the recorded tracked position. + +You can take a look at `blueleg_beam_real_cube2197.csv`: +#open-button(file="assets/labs/lab_AI/data/results/blueleg_beam_real_cube2197.csv") ::::: exercise **Generation SOFA Scene:** @@ -20,14 +55,14 @@ Select the point generation method: ::: option direct :::: -Ratio of the sampling ]0, 1[ (the higher the coarser): +Ratio of the sampling ]0, 1[ (the higher the coarser) for `sphere` and `cube` options: #input("dataset_ratio", "Ratio to sample (the higher the coarser)", "0.08") -#runsofa-button("assets/labs/lab_AI/lab_AI_dataset_generation.py", "dataset_shape", "dataset_ratio") +#runsofa-button(file="assets/labs/lab_AI/lab_AI_dataset_generation.py", pyargs=["dataset_shape", "dataset_ratio"])
-Here is is an excerp of the _blueleg_beam_sphere.csv_ dataset file that comes with this lab: +Here is is an excerp of the _blueleg_beam_sphere515.csv_ dataset file that comes with this lab: ```text # extended ;1 @@ -39,12 +74,11 @@ Here is is an excerp of the _blueleg_beam_sphere.csv_ dataset file that comes wi # connector ;bluepart # connector type ;rigid Effector position;Motor angle -[-39.96175515 -90.41789743 -39.96175525];[-0.14670205865712832, 0.14670207392254797, 2.43823807942873, -2.438238056118855] -[-39.95720099 -90.4415037 -31.95609913];[0.1329811350050557, 0.13624487007045172, 2.29165178728331, -2.488099187824528] -[-39.95397373 -90.45505537 -23.95436099];[0.4217800556565714, 0.13599500085968805, 2.113863614076125, -2.5101582582004642] -[-39.9514583 -90.46332739 -15.96017202];[0.7233308263521361, 0.14326494422921077, 1.8979428979904553, -2.5098560718291005] -[-39.95029449 -90.46182801 -7.97640971];[1.0359369002803307, 0.15246389567464924, 1.640800631571854, -2.4992699487352867] -[-3.99504339e+01 -9.04556845e+01 -8.41130293e-05];[1.3485569542409783, 0.1566254899703859, 1.3478513803217718, -2.4934454150763674] +[-39.96175319 -90.41790123 -39.9617533 ];[-0.14671493815230305, 0.14671495863621398, 2.438245119379324, -2.438245064719189] +[-39.95721404 -90.44149463 -31.95606774];[0.13278020542251584, 0.1361462088456899, 2.291810947074616, -2.4880786839009525] +[-39.95398396 -90.45504974 -23.95431237];[0.42151032888874346, 0.13590327750354508, 2.114101371561853, -2.5101908380204403] +[-39.9514658 -90.46332978 -15.96010252];[0.7230089875813547, 0.14319760751651572, 1.8982513705899897, -2.5099090246584557] +[-39.95029801 -90.4618368 -7.97632692];[1.0355881112380285, 0.15242992354764623, 1.6411482937976718, -2.499306559350879] ``` ::::: diff --git a/sections/3_scikit-learn.md b/sections/2_scikit-learn.md similarity index 100% rename from sections/3_scikit-learn.md rename to sections/2_scikit-learn.md diff --git a/sections/2_from_scratch.md b/sections/3_from_scratch.md similarity index 100% rename from sections/2_from_scratch.md rename to sections/3_from_scratch.md From 3f5e7862c99a40ca88616ec03d95d47ae35f0d3d Mon Sep 17 00:00:00 2001 From: HanaeRateau Date: Tue, 12 May 2026 18:01:14 +0200 Subject: [PATCH 3/9] Fixes interval symbols --- sections/1_dataset.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sections/1_dataset.md b/sections/1_dataset.md index ab239b0..d5e0304 100644 --- a/sections/1_dataset.md +++ b/sections/1_dataset.md @@ -55,7 +55,7 @@ Select the point generation method: ::: option direct :::: -Ratio of the sampling ]0, 1[ (the higher the coarser) for `sphere` and `cube` options: +Ratio of the sampling $]0, 1[$ (the higher the coarser) for `sphere` and `cube` options: #input("dataset_ratio", "Ratio to sample (the higher the coarser)", "0.08") #runsofa-button(file="assets/labs/lab_AI/lab_AI_dataset_generation.py", pyargs=["dataset_shape", "dataset_ratio"]) From 980460c2f3fb58f1119b8ed53da2f1e1eb931d81 Mon Sep 17 00:00:00 2001 From: HanaeRateau Date: Tue, 12 May 2026 18:01:57 +0200 Subject: [PATCH 4/9] Reformats and adds vocabulary definitions in scikit-learn introduction --- sections/2_scikit-learn.md | 155 ++++++++++++++++++++----------------- 1 file changed, 85 insertions(+), 70 deletions(-) diff --git a/sections/2_scikit-learn.md b/sections/2_scikit-learn.md index 7c8a896..0c18595 100644 --- a/sections/2_scikit-learn.md +++ b/sections/2_scikit-learn.md @@ -1,32 +1,50 @@ -:::: collapse A MLP with sickit-learn +:::: collapse A MLP for robotics with sickit-learn -You are going to train an MLP based on different datasets. It is important to understand how those were generated and what is going on. +**Goal**: better understand how neural networks can be used for robotics and simulation -First, you will use the SOFA Robotics simulator. This is an application specialized in soft robots simulation. -What you will do in the lab is to try to learn the inverse model of the robot. Meaning that based on where you want the robot end effector in space, you want the MLP to ouput four motor angles to actuate the robot. Applying these four angles to their respective motors (in real life or in the simulation), the end effector should move to the desired position. +You are going to train an MLP based on different datasets. It is important to understand how those were generated and how they are used in the context of MLP training and evaluation. + +First, you will use the _SOFA Robotics simulator_. This is an application specialized in soft robots simulation. +What you will do in the lab is to try to learn the inverse model of the robot. Meaning that based on where you want the robot _end effector position_ in space, you want the MLP to ouput four _motor angles_ to actuate the robot. Applying these four angles to their respective motors (in _real life_ or in the _simulation_), the end effector should move to the desired position. In the simulator, you can visualize the error between the desired position and the simulated position of the end effector after applying the angles in the **Plotting Window** as the `error`, `errorX`, `errorY`, `errorZ` which are respectively the Euclidian distance between the two positions (desired and simulated), then projected along the X-, Y-, and Z-axis. In real life, when sending the motor angles to the real robot, we can measure the effect of the new motor angles thanks to the camera. This is the error called `camera_to_target_error`. -Another useful measure is the r2 score of the MLP, it is continuously calculated across all the previous targets. +Another useful measure is the $r^2$ score of the MLP, it is continuously calculated across all the previous targets. + +To train the MLP, you will use datasets. A dataset is then comprised of desired end effector positions and the matching motor angles. The way these datasets are generated can vary and is described in the [previous Datasets section](#datasets). -To train the MLP, you will use datasets. A dataset is then comprised of desired end effector positions and the matching motor angles. The way these datasets are generated can vary. For more details, you can take a look at the appendix below. A summary of this is in the diagram below: + ![](assets/labs/lab_AI/data/images/context_diagram.png) ### Train the Model and Test it +In this part, we will use scikit-learn to train a MLP because it only needs a call to two functions. + +We will see in further depth how training works in the next section but to have a first grasp of the **training process**, here is a high-level description: + +$$ +\begin{align*} + 1. & \text{The parameters of the layers (weights and biases) are randomly initialized.} \\ + & \text{For each row of the dataset:} \\ + & \hskip1em 2. \text{The input (position) from the dataset is passed through the MLP.} \\ + & \hskip1em 3. \text{The output of the MLP (motor angles) is compared to the dataset output (the ground truth).} \\ + & \hskip1em 4.\text{Update the parameters of the layers using gradient descent and backpropagation} \\ + & \hskip1em 5. \text{Loop back to step 2 until maximum number of iterations or epochs is reached.} +\end{align*} +$$ + #### Create a MLP and train it Scikit-learn comes with its own implementation of an [MLP regressor](https://scikit-learn.org/stable/modules/generated/sklearn.neural_network.MLPRegressor.html#sklearn.neural_network.MLPRegressor). -You can use it here for a quick exploration of the architexture needed. - -Several (hyper-)parameters be played with. Here are some of the parameters: -- the number of layers and their sizes -- the activation function for all neurons -- the solver/optimizer for the gradient descent -- the batch size -- the maximum count of iterations +You can use it here for a quick exploration of the architecture needed. +Several (hyper-)parameters can be played with. Here are some of the parameters: +- the sizes of the layers +- the activation function for all neurons (`identity`, `logistic`, `tanh`, `relu`) +- the solver/optimizer for the gradient descent (`lbfgs`, `sgd`, `adam`) +- the batch size, for `sgd`, `adam` solvers, until update of the weights and biais +- the maximum count of iterations (epochs for `sgd`, `adam` solvers) ```python from sklearn.neural_network import MLPRegressor @@ -38,32 +56,48 @@ mlp = MLPRegressor(hidden_layer_sizes=(100,), solver='adam', mlp.fit(X_train, y_train) # train the model using the X_train dataframe of the features and y_train as the target dataframe ``` -In the code above, since our features the components of a 3D point, we have 3 features as input. Regarding the output, since we want the 4 angles of the 4 motors, the output of the MLP is four values. +In the code above, since our features are the components of a 3D position, we have 3 features as input. Regarding the output, since we want the 4 angles of the 4 motors, the output of the MLP is four values. ::: exercise **Exercise 1** 1. Create an MLP with two hidden layers of _128_ nodes each and that will train on _20000_ epochs in the `modules/sklearn_MLP.py` - #open-button("assets/labs/lab_AI/modules/sklearn_MLP.py") + #open-button(file="assets/labs/lab_AI/modules/sklearn_MLP.py") 2. Train it: - #python-button("'assets/labs/lab_AI/train_model.py' scikit-learn 'assets/labs/lab_AI/data/results/blueleg_beam_sphere.csv'") - - If the above button does not work run the following: - ```bash - cd ~/emio-labs/v25.12.01/labs/lab_AI # Linux - cd "%USERPROFILE%\emio-labs\v25.12.01\assets\labs\lab_AI" # Windows - python train_model.py scikit-learn data/results/blueleg_beam_sphere.csv - ``` - + #python-button(file="assets/labs/lab_AI/train_model.py", pyargs=["scikit-learn", "assets/labs/lab_AI/data/results/blueleg_beam_sphere515.csv"]) + The trained model save path is `data/results/model_sklearn.joblib` -Note that we used the dataset called `blueleg_beam_sphere.csv`. This is because we generated it using **an inverse model** (to be presented next time) of Emio configured with the **blue legs**, the **beam** model, and data points sampled on a **sphere**. +Note that we used the dataset called `blueleg_beam_sphere515.csv`. This is because we generated it using **an inverse model** (to be presented next time) of Emio configured with the **blue legs**, the **beam** model, and data points sampled on a **sphere**. ::: #### Evaluate the model +In Machine learning, an common evaluation metric is the $r^{2}$ score or coefficient of determination. Essentially, it measures the proportion of the variance in the dependent variable that is predictable from the independent variables in the model. + +A high value indicates that the models highly fits the data. + +The general mathematical definition is: + +$$ +\def\ssres{\sum_{i=1}^{n} (y_i - \hat{y}_i)^2} +\def\sstot{\sum_{i=1}^{n} (y_i - \bar{y})^2} + +r^2 = 1 - \frac{\ssres}{\sstot} + +\\[1em] + +\begin{array}{ll} +\text{where:} \\ +\quad y_i & \text{observed data point} \\ +\quad \hat{y}_i & \text{predicted value} \\ +\quad \bar{y} & \text{mean of observed data points} +\end{array} +$$ + + ##### Without the simulation You can use the [MLPRegressor.score](https://scikit-learn.org/stable/modules/generated/sklearn.neural_network.MLPRegressor.html#sklearn.neural_network.MLPRegressor.score) method to calculate the coefficient of determination on the test data. @@ -74,43 +108,22 @@ mlp.score(X_test, y_test) ::: exercise **Exercise 2** -Let's see the perpformance of our model. Calculate the score of the model by pressing the button below: - -#python-button("'assets/labs/lab_AI/evaluate_model.py' scikit-learn 'assets/labs/lab_AI/data/results/blueleg_beam_cube.csv' 'assets/labs/lab_AI/data/results/model_sklearn.joblib'") +Let's see the performance of our model. Calculate the score of the model by pressing the button below: -If the above button does not work run the following: -```bash -cd ~/emio-labs/v25.12.01/labs/lab_AI # Linux -cd "%USERPROFILE%\emio-labs\v25.12.01\assets\labs\lab_AI" # Windows -python evaluate_model.py scikit-learn data/results/blueleg_beam_cube.csv assets/labs/lab_AI/data/results/model_sklearn.joblib -``` +#python-button(file="assets/labs/lab_AI/evaluate_model.py", pyargs=["scikit-learn", "assets/labs/lab_AI/data/results/blueleg_beam_cube1331.csv", "assets/labs/lab_AI/data/results/model_sklearn.joblib"]) -*Note*: we are testing the model on another dataset: *blueleg_beam_cube.csv* +*Note*: we are testing the model on another dataset: *blueleg_beam_cube1331.csv* You should have a score that is quite low. This is mostly due to the fact the MLP is using relu as an activation function. However, if you look at the dataset, you have lots of negative values because of the where the reference frame of Emio is. 1. To avoid this problem, use the `logistic` activation function in `modules/sklearn_MLP.py`, train and calculate the score again: -#open-button("assets/labs/lab_AI/modules/sklearn_MLP.py") +#open-button(file="assets/labs/lab_AI/modules/sklearn_MLP.py") 2. Train again - #python-button("'assets/labs/lab_AI/train_model.py' scikit-learn 'assets/labs/lab_AI/data/results/blueleg_beam_sphere.csv'") + #python-button(file="assets/labs/lab_AI/train_model.py", pyargs=["scikit-learn", "assets/labs/lab_AI/data/results/blueleg_beam_cube1331.csv"]) - If the above button does not work run the following: - ```bash - cd ~/emio-labs/v25.12.01/labs/lab_AI # Linux - cd "%USERPROFILE%\emio-labs\v25.12.01\assets\labs\lab_AI" # Windows - python train_model.py scikit-learn data/results/blueleg_beam_sphere.csv - - ``` -3. Calculate the r2 score again - #python-button("'assets/labs/lab_AI/evaluate_model.py' scikit-learn 'assets/labs/lab_AI/data/results/blueleg_beam_cube.csv' 'assets/labs/lab_AI/data/results/model_sklearn.joblib'") - - If the above button does not work run the following: - ```bash - cd ~/emio-labs/v25.12.01/labs/lab_AI # Linux - cd "%USERPROFILE%\emio-labs\v25.12.01\assets\labs\lab_AI" # Windows - python evaluate_model.py scikit-learn data/results/blueleg_beam_cube.csv assets/labs/lab_AI/data/results/model_sklearn.joblib - ``` +3. Calculate the $r^2$ score again + #python-button(file="assets/labs/lab_AI/evaluate_model.py", pyargs=["scikit-learn", "assets/labs/lab_AI/data/results/blueleg_beam_cube1331.csv", "assets/labs/lab_AI/data/results/model_sklearn.joblib"]) ::: @@ -120,6 +133,8 @@ Now that you have a theoretically good-enough model, lets use it in simulation! The trained model will be used to compute the robot’s inverse kinematics; that is, for a desired position in space, the MLP will provide the corresponding motor positions. This is the foundation of control and motion planning in robotics. +In the **Plotting** window, you can see the $r^2$ score calculated over the last points. + ::: exercise **Exercise 3** @@ -139,37 +154,37 @@ This allows you to manually test different robot configurations, and for each on |:--:|:--:|:--:| -#runsofa-button("assets/labs/lab_AI/lab_AI_test.py", "scikit-learn", "data/results/model_sklearn.joblib", "notargets", "0.4") +#runsofa-button(file="assets/labs/lab_AI/lab_AI_test.py", pyargs=["scikit-learn", "data/results/model_sklearn.joblib", "notargets", "0.4"]) + + +**Questions** +1. Is the error between the desired position and the simulated position always the same depending on the the desired position? +2. How does the error vary with respect to the position measured from the camera (`camera_to_target_error`)? +3. At this stage, can you provide a first analysis of the errors? ---- -> **Questions** -> Is the error between the desired position and the simulated position always the same depending on the the desired position? -> How does the error vary with respect to the position measured from the camera (camera_to_target_error)? -> At this stage, can you provide a first analysis of the errors? --- ***Second Test: More systematic*** Here, we propose to perform a systematic scan of positions in the form of a grid of points evenly spaced on a plane.The white dots are the targets (desired positions) and the red dots are the positions of the end effector after applying the angles output from the MLP. -#runsofa-button("assets/labs/lab_AI/lab_AI_test.py", "scikit-learn", "data/results/model_sklearn.joblib", "plane", "ratio_sklearn") +#runsofa-button(file="assets/labs/lab_AI/lab_AI_test.py", pyargs=["scikit-learn", "data/results/model_sklearn.joblib", "plane", "ratio_sklearn"]) By default, the spacing is set to `0.1`, meaning the spacing is given by the plane size divided by 10. -To change this spacing, you can enter a number in ]0, 1[: +To change this spacing, you can enter a number in $]0, 1[$: #input("ratio_sklearn", "Ratio for sampling", "0.1") ---- -> **Questions** -> After letting the simulation run through all the targets, what conclusions can be drawn from this? -> Now it’s your turn ! What strategy can you apply to improve the learning ? (not mandatory, but see some possibilities in the next sections) + +**Questions** +1. After letting the simulation run through all the targets, what conclusions can be drawn from this? +2. Now it’s your turn ! What strategy can you apply to improve the learning ? (not mandatory, but see some possibilities in the next sections) --- ->**Additional note:** -> This is similar to the previous simulation, but here you can visualize the entire set of points used for training. +**Additional note:** +This is similar to the previous simulation, but here you can visualize the entire set of points used for training. -#runsofa-button("assets/labs/lab_AI/lab_AI_test.py", "scikit-learn", "data/results/model_sklearn.joblib", "plane", "ratio_sklearn", "data/results/blueleg_beam_sphere.csv") +#runsofa-button(file="assets/labs/lab_AI/lab_AI_test.py", pyargs=["scikit-learn", "data/results/model_sklearn.joblib", "plane", "ratio_sklearn", "data/results/blueleg_beam_sphere515.csv"]) | ![](assets/labs/lab_AI/data/images/Workspace.png){width=90%} |:--:| -*** *** :::: \ No newline at end of file From ea91ad679be6a2961d74cc63f829fa80de878d7c Mon Sep 17 00:00:00 2001 From: HanaeRateau Date: Tue, 12 May 2026 18:05:56 +0200 Subject: [PATCH 5/9] adds scikit-learn introduction --- sections/2_scikit-learn.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sections/2_scikit-learn.md b/sections/2_scikit-learn.md index 0c18595..051745d 100644 --- a/sections/2_scikit-learn.md +++ b/sections/2_scikit-learn.md @@ -19,7 +19,7 @@ A summary of this is in the diagram below: ### Train the Model and Test it -In this part, we will use scikit-learn to train a MLP because it only needs a call to two functions. +In this part, we will use scikit-learn to train a MLP. Scikit-learn is an open-source Python library that provides tools for a wide range of machine learning tasks like including classification, regression, clustering, and dimensionality reduction. Among other functions, it provides the [MLP regressor](https://scikit-learn.org/stable/modules/generated/sklearn.neural_network.MLPRegressor.html#sklearn.neural_network.MLPRegressor) class that we will use to create our first MLP. We will see in further depth how training works in the next section but to have a first grasp of the **training process**, here is a high-level description: From cc613006e5442b5dbb40c16ef2163668ca7a575f Mon Sep 17 00:00:00 2001 From: HanaeRateau Date: Wed, 13 May 2026 18:05:43 +0200 Subject: [PATCH 6/9] Adds short introduction to pytorch --- data/images/nn.png | Bin 0 -> 60339 bytes sections/4_pytorch.md | 27 +++++++++++++++++++++++++-- 2 files changed, 25 insertions(+), 2 deletions(-) create mode 100644 data/images/nn.png diff --git a/data/images/nn.png b/data/images/nn.png new file mode 100644 index 0000000000000000000000000000000000000000..f0c624197a0d056e93bb908b86fe488dec401dba GIT binary patch literal 60339 zcmY&g2{@GN+kd4}5>Apymb4s+ET!zGsB9s7!jOqcmXUp@BV>z0$~I-qU?lr8DA{9* zEZO(L7~3#*zGtX&{@=N-u5(@WzR&wS_j9km`*%<9T@9t9jGT-R1RYgTzNrmC``p1F zu|o&J--zwQy#xO{Y_DwS2tmv>v_Ew9=noIUU!HWjbI$`6f zaPcD6Xu^5xuvTN^ zf&Sy^Bak^XKzEl~#me`LRpI&Iy_39)l78*S4pa2ibzF=oTY;;T+zQhLvMcGMhb{1*U2!5uOi*2f0Pwtu@ z8YSfU`flpgaa^hUxFat!n*CDorv2pmZ=&B=#MQ&0dx!%5zrn{337j2wYdH1zjpY_U z##`sf+B1d%O}Odsbj!wU=~=s~1sfzmt_ZEqj$km$gh!|x0z1~OY$8W;L~2j}Kn+yu zNys-C-9P4Tl8XJbul?`D^N)Rf55bUyP|^Zb>@e+oO-54Oi_D?{Zpa6t)-eWmy!<#k z#Oh#{eO@oJqNzydars)X@M+F6Oenq;~O-!Tc`KT-LWsixw<^#G#8>0N;+j@viLXlS_= z8?wMjy+>!`%im;T+t{kj2JL{T!SQda`ZTa9Jd|3}zdLj+^4{K!;Xc z*k}($Ue;bzOnUI9erI%iFIfH{HRr1ZfPpK ztDBZPCvj%?-{`@=b=bFF>^$fCW8JDFZuzd{9AqXlh`zo1d2{g3R*)GieNG~T-=~tn zyXG}mkMIE7HyfEWa3?=g+W|pRrnjqrfgZ#7UesyKdqP~%0vmO#Fwx6q*UUq z&0rJvA&a~bf7(BP)dZ_Pb+q`U6+|X&l;x$c3=-}hw|M*Se$T_l1Q$+4W#gns8= z?tCd_*8BvK0q1g!lF6AUrT|JW-6}jQfc9W2Q*;d<3uKptZ7VYNoDxX#6&MK=R8p=> zb=zF1M|pbN(pHOf&=U@-SO&_o5Iv-|I+|JU;qoJ215P*mAZTV$M~&NyWMgCntL%RQ*AidU*Y4gceqbw(p|szE`qpUyqNxPd^&})5_Q6 zom@u=Q}9iymPcIrnPZZS1_<5Q$+k2_bL!TL?{=Rf!Gu3e){!#Nk|N_g?IhxdayG%h zU1siuYs=9DQD8Cd(LnDvpz!<@a@ZeLrmjr# z=6;gYNxI}u3P`_%S}DwN<{(eHH;-U-vbVG}p4Xal9Q6O(2zA~{`H=~+G6yjn;``gN z6*XNpaJS4fW>-s$#=RQyXAZp+egJc3G+-W05TNoh@~QKEwZ>wF_P?WFty?#gFhn-ncctlbZRt4Re%_u?yiqSj&{`q9?kk8ZYzwm3B-{^ehn(_ zo&A1_i*rN%x_emOUtxL7=~k`Rn2=wSZ-sWUa7!0_!eXa=&Y`A$4J!S9IvzYtzuiR$ zy`AzhN<-R;_m)=r+jOalyu2q@kYQ=9ZEEf!X&$>;&fe3{$Fgb)7vT)oVA;RVUy{gi z?dsKVx8VQ|CP+Ck4dwgi$)i2vyHBErzXUYzdwTs6(MuUzR`t4jnW2YE^z?36Nhs`9 zOu}O_Nb6;0qLQ6GArJ6>_Y29%?A?Plu7}LW(p`k%Pm6wkck*v*!N9GnQcJMOGfa0qG?~lWIR3_CI1AKfTl-P+Z5m3+WY+<# z1~a=Grcx=de5s*1uoD^iOEVv`Xs(78{+&-G^yiv;HQ}tTPab>Ch||AvSm5MdbWlzN zQhHltey{Ian_4Nyo`e?mb1!l!cM+Nk*lSv+{=KddAULUL946LEFfcLxzguF>S%~a9 zSxs%+**XQqhdgO_+LApD74}VvH`l7?!}|LAQH?p3J#Aj>;AD39hW0bHX9E|T zX+Q9JTd_vG7;?L%7aag`LfKT(jkaZq-;9yi%pAMI9eR5^p%WW*luc%k3Z0J;>#>>NAvZ+xF7K1&uhRxeQAia}V$ zFqjXMFgJ&|v`cnh_Qj?{5Mgz}{`Z=XrHG2jKPC^n9f&9VC$yVVJd3!O+5_6Wo_ZQ_ zRM=oi2){g%_jabT0N|84h`Mk&`~8E5+1U|=oU#&ya$|7|SC zHffCVmG{Mta}@TX4E<_jvo-zO4foO_^X_pOHNuNMOYdILhF@>%xO6F4BPv~Pc8ZP# z`dcHZe)KR>28sm{8|tobr?~NbeP%D&*S}2!Q8hi?3Z*8HdwBmohKJ?1g-#fqPD^P2 z`E%*!xnomt1jos;ZJ)UTymbJpXMn={`ZF(;i@k7)yYcfq7qk1-bk^8`t64W}dxo}* zM|tCXzVx#QX{+<$_J2(5>N5TGu<`G@?s3TSa$S*BYG+p$`axJ?qZ9^VWK@nUB8iKO zS5(8w<#{3qEC>B%#wbGhmMyAZ&GQ7p@-i3PHuLNyxf+PlyB>85k>|T61PG=|a(WXW($N&wpYr8JE}xu#PaQ zxASD>vxI>;F)rl2Y%z{Sj)I7itFY6WPJlO2A*v(QB1&GZ>0j(5rHs_Sq~ z5#@kFK=1PM7S8g0eRxZYhf~(gzH`v^NAfL_(f#`xbfSNAF=OsGT-i%V3TT<%6Ft2$ z-}1*Mvj!&~jbnM=VO2$-B;V4SS2@5#fbWYO;hWGiFc^#>-4Epuu?xPPl9C$D5UB88 z@QAzc-WjPGKZ7cG!o)0ER!(_U{g^H!eU@s6R^uL8kcf2G6%`dzq8I(|UU2fpS*r+G zfKbDDUG2j0I5DfX)PJ^pe(!}B?Byi%?qbNCMB7iy+{^h5#4no7hSplreK-_UbJDf1 z2c#$EsnN{?-Yfk|wk5H9P5vAPHrfDsOOdw)zW%@X<tSq^V_V%Xjd4zZ>Dcy!Zp zHI!x~xycvW@3eCbba$8hYIHt{6oN5n9Q-H@vWn%^xBumZL*s?C5^p5eL269z+_4Gb zoY(xVs`l1IEN9?U<1IbC&rvMKwzJ(;W#iLXI9bctzEU*Z_0z19eqt^>$n5gy#qE1S zR98*AH;Q{%qlq|YV$#&rr`OF`iJM>2)6@SFshIy~c&P{E7v_)*3zy{lVlW#&qb3im zx;qb9*pX#mS_hN4-d+$oO(OZuPxsJ_c0m*PF=*(t&hsuFkmuK8(C%NOa*h|9>?qyb zr&J5y@mkC4LU@uh6DZ+Wtj34j+z9&XAeT6wCd*s>K)b14!lrw^B;H?7USTgGJ;EVu z{F=6{cds4g&vAxJ$EBbSAM~%G+i(5&ach!{tDWO#7VEw2uB|M(9h5H`2j|Dwj+lPI zpuL}s$4~0%ekd95x$@Uxp7SU|($-==LEaNB&Y1(;M9ni+4rPH{+eeSwx;(bNzgH9# zym(OqI4n9d!!s{StZ8;Dx1Lxe_OKyRgImVs=Sk#QClf*m;S!ALg+KkE2Xr0V|obc^Rq4@>c&+v_LQ@-qCh_?3Zi z0uT&q^>|pGrn5;Es{7-Et61znblfzZ(T45Q>qGadJUumN#>g08XC9W*=DfvI+{N)H zLZ^Qxsylk`xq{0EFM#Swo_;BsG?Fm4@NmZB+uP!3?`;e^zjD~1e7W8*19MvQF!QT) zE8#Bj<*}Zg9`%sqZ~Iv3=9Rjot>0?Pg%0B7__r#?VlM(0{(7Lo(_CcSBLQ;_rf+g7DW1#ISM55p4TEhmlWGYANl`wCbH}uf z1%Evombc+#;@i=(9CY-Qeu`C(aa}i)Ntfxx&0yc)J?oQ=q3{usA<2E$PxEMQz7Xp) z)r+wMrTPSmb`v{0dk+O9I2D0o!>z){8M*1r64I^CvITz?3(Gqa7ay;52~n}C1U1A= z(`_$N6Q~pr^nz}l$-92&i8{y=8SG}ooF>0FVX@c^I@v7J`ldpX1lyj#7u!KnHFZxh zfjfc`=w${ZdGSQ32@IT!K~zsG+VO<2aml{!IFE7FWoQoE;)eUMeMxz=L#0(5>gu&? zKI91=pVmLwwE%CmXRSwgyDq_{ z<)2-Ry6yvVz0CxW(C(&)+V{z`k@YYnFnJ#+)X4-5lXiM!VPP>&4<)_0ow7{rDpOhZ z`{F@6#`SF@F`K!SfAf3gse*Dvo{!7(d6q44YuZgydG}@t$0Y8}6#&O=O1joTzc@#h zA`|J>(6t{2n+b*<0xQY8HHE+@7k6MNKowsARWvw0u9_7Uo0C6rts}pL{O>Dr@wp(q zzOb8$hGg~gEYj+TqM+mpn#uz8_pJ0qVY2P=YJ}}|FQCKm14->Zh{Zy8kgp#{{z>YT zpA?W3d7z)2owMe)wa;&-sM9R!g*qtCV$oOzNfNnqipc(ny=ME458=<9ESQ$V$LM

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