Two utilities will be discussed which manipulate the data files (Use "SAVE-TO-LOCAL-DISK" option of your browser to get these binaries):
  • parse - convert datafiles to be lisp readable. Binaries are available for DEC, Sun and 386 machines.
  • 'CTREPLAY' - graphically review data on an X-Window system. Monochrome, 8 bit greyscale and 8 bit color monitors are supported. Binaries are available for DEC, Sun and 386 machines.
  • parse

    In order to automate the process of generating input/output relationships, parse takes an input description of the sensor information and classifications required for a particular training/test set. Parse will then scan through the raw data set and extract the appropriate information, which is then coded as lisp readable frames.

    The benefit of having such a parser is that it allows much more freedom in the specification of the format for the raw data. As long as the raw data has a suitable version number identifier, the parser can hide changes and even abstract to different robots. And, with the data collection process saving as complete a description of the world as is practical, it is trivial to extract and use different representations during learning.

    machine% parse datafile configfile > parsedfile
    A sample configuration file is provided, as is a lisp readable frame generated.

    The specification language is:

    Output recorded sonar readings.

    Output recorded laser readings.
    RECTANGLE name x1 y1 x2 y2 xres yres
    Convert vision data bounded by the rectangle {x1,y1}{x2,y2} into rectangles of size {xres, yres} in row/coloumn order. A slot titled "name" will be created in the parsed output. (See sample files for examples)


    To replay a run:
    machine% CTREPLAY -t datafile
    This will open 2 windows on the X window display entitled 'Map' and 'Last image' respectively.

    The Camera View is toggled using the verbose flag ('v' at the CTREPLAY command line), and display the current visual perception - an intensity display or actually image on a color monitor. Use 't ' varies the quality of this picture on a monochrome monitor.

    The map window depicts the position of the robot relative to the start of a run (located at (0,0)). 24 rays protrude from a central location - these signify the sonar reading at any point in time. In addition, by entering 'e', toggling erase mode, old lines are not erased, which leads to a map of free space (save for noise and sensor error), being built up. If you just wish to see the objects detected by the laser and the sonar, 'l' toggles line/point mode. In point mode, the laser is also visible as a horizontal dot (the sonar being a vertical dot). As the robot moves, if 'e' is off, walls and obstacles will be traced out. In addition, the window can zoom in and center on portions of the world. On a color screen, the robot path will appear in green, the laser will always be present as a yellow trace, with the sonar being increasingly white, depending on the likelihood of an object actually having being detected. Full online help is provided by entering '?'.

    Last Updated: 14July94 23:00 josullvn+@cs.cmu.edu