Description of datasets:

Reaching
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The dataset is a number of demonstration of a robot performing a reaching motions (in R^3). The data recorded is the position in space of the end effector (the hand).
Dimensions correspond to:
1 2 3  4    5    6
X Y Z Xdot Ydot Zdot
The goal for this dataset is to learn the velocity profile over one of the dimensions (e.g. Xdot) as a function of the 3D position. This allows the robot to know "where to go" when it is in a specific position.

Grasping
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The dataset is a number of demonstration of a robot grasping an object. The input data is the response of pressure sensors on the robot's finger.

Dimensions correspond to:
Grasping Raw :
1-7 : arm joints velocity
8-13 : fingers joints velocity
14-25 : 12 raw index pressure sensors
26-37 : 12 raw middle finger pressure sensors
38-49 : 12 raw thumb pressure sensors

Grasping Avg:
1-7 : arm joints velocity
8-13 : fingers joints velocity
14-16 : average index, middle finger and thumb pressures

The goal for this dataset is to learn the velocity profile of the joints from the pressure sensors of the hand. This allows the robot to learn the best way to grasp an object.


Group List
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Group		Dataset			Input Dims.			Regression Dim.
1			Reaching1		1 2 3				4 5
2			Reaching1		1 2 3				5 6
3			Reaching2		1 2 3				4 5
4			Reaching2		1 2 3				5 6
5			Reaching3		1 2 3				4 5
6			Reaching3		1 2 3				5 6
7			Reaching4		1 2 3				4 5
8			Reaching4		1 2 3				5 6
9			Reaching5		1 2 3				4 5
10			Reaching5		1 2 3				5 6
11			Reaching6		1 2 3				4 5
12			Reaching6		1 2 3				5 6
13			GraspingRaw		14-25  (use 3)		1-4 (try 2)
14			GraspingRaw		26-37 (use 3)		1-4 (try 2)
15			GraspingRaw		38-49 (use 3)		1-4 (try 2)
16			GraspingRaw		14-25 (use 3)		5-9 (try 2)
17			GraspingRaw		26-37 (use 3)		5-9 (try 2)
18			GraspingRaw		38-49 (use 3)		5-9 (try 2)
19			GraspingRaw		14-25 (use 3)		10-13 (try 2)
20			GraspingRaw		24-37 (use 3)		10-13 (try 2)
21			GraspingRaw		38-49 (use 3)		10-13 (try 2)
22			GraspingAvg		14-16				1-4 (try 2)
23			GraspingAvg		14-16				5-9 (try 2)
24			GraspingAvg		14-16				10-13 (try 2)