There are eight datastets in this family . They are all variations on the same model; a realistic simulation of the dynamics of a Puma 560 robot arm. The task in these datasets is to predict the angular accelaration of one of the robot arm's links. The inputs include angular positions, velocities and torques of the robot arm. The family has been specifically generated for the delve environment and so the individual datasets span the corners of a cube whose dimensions represent:

Number of inputs (8 or 32).

degree of non-linearity (fairly linear or non-linear)

amount of noise in the output (moderate or high).

More background on the rationale for these choices can be found in the delve
task array document.

Detailed documentation on the pumadyn family is also
available.

**Origin: ** Simulated

**Usage:** Assessment

**Number of attributes:** 9 or 33

**Number of cases:** 8192

**Number of prototasks:** 1

**Number of methods run on this dataset:**
25

**Download **
pumadyn-family

All datasets in this family have "pumadyn" as the base of their name (PUMA DYNamics). A dash (-) is appended to this name, followed by:

- An integer value signifying the number of input attributes in each case, for example `32'.
- One of the characters `f' or `n' signifying `fairly linear' or `non-linear', respectively.
- One of the characters `m' or `h' signifying `medium unpredictability/noise' or `high unpredictability/noise', respectively.

Each dataset has a single Prototask called "accel". Within each prototask are tasks with training set sizes from 64 to 1024, increasing by powers of two.

**Contributed by: ** Zoubin
Ghahramani, using the Matlab Robotics Toolbox (Release 3). The Matlab Robotics Toolbox was written by Peter I. Corke (1996) and is available freely from The MathWorks or from the
author.

Corke, P. I. (1996). A Robotics Toolbox for MATLAB.

Last Updated 8 October 1996 Comments and questions to: delve@cs.toronto.edu |