Sample Graph Datasets in CSV Format

Note: none of the data sets published here contain actual data, they are for testing purposes only.

Description

This data repository contains graph datasets, where each graph is represented by two CSV files: one for node information and another for edge details. To link the files to the same graph, their names include a common identifier based on the number of nodes. For example:

• dataset_30_nodes_interactions.csv:contains 30 rows (nodes).
• dataset_30_edges_interactions.csv: contains 47 rows (edges).
• the common identifier dataset_30 refers to the same graph.

CSV nodes

Each dataset contains the following columns:

Name of the Column	Type	Description
UniProt ID	string	protein identification
label	string	protein label (type of node)
properties	string	a dictionary containing properties related to the protein.

CSV edges

Each dataset contains the following columns:

Name of the Column	Type	Description
Relationship ID	string	relationship identification
Source ID	string	identification of the source protein in the relationship
Target ID	string	identification of the target protein in the relationship
label	string	relationship label (type of relationship)
properties	string	a dictionary containing properties related to the relationship.

Metadata

Graph	Number of Nodes	Number of Edges	Sparse graph
dataset_30*	30	47	Y
dataset_60*	60	181	Y
dataset_120*	120	689	Y
dataset_240*	240	2819	Y
dataset_300*	300	4658	Y
dataset_600*	600	18004	Y
dataset_1200*	1200	71785	Y
dataset_2400*	2400	288600	Y
dataset_3000*	3000	449727	Y
dataset_6000*	6000	1799413	Y
dataset_12000*	12000	7199863	Y
dataset_24000*	24000	28792361	Y
dataset_30000*	30000	44991744	Y

This repository include two (2) additional tiny graph datasets to experiment before dealing with larger datasets.

CSV nodes (tiny graphs)

Each dataset contains the following columns:

Name of the Column	Type	Description
ID	string	node identification
label	string	node label (type of node)
properties	string	a dictionary containing properties related to the node.

CSV edges (tiny graphs)

Each dataset contains the following columns:

Name of the Column	Type	Description
ID	string	relationship identification
source	string	identification of the source node in the relationship
target	string	identification of the target node in the relationship
label	string	relationship label (type of relationship)
properties	string	a dictionary containing properties related to the relationship.

Metadata (tiny graphs)

Graph	Number of Nodes	Number of Edges	Sparse graph
dataset_dummy*	3	6	N
dataset_dummy2*	3	6	N

[doc] formats - csv - 3

This dataset contains one csv file at the root:

data.csv

ignored comment

col1|col2 dog|woof cat|meow pokemon|pika human|hello

We define the config name in the YAML config, as well as the exact location of the file, the separator as "|", the name of the columns, and the number of rows to ignore (the row #1 is a row of column headers, that will be replaced by the names option, and the row #0 is ignored). The reference for the options is the documentation… See the full description on the dataset page: https://huggingface.co/datasets/datasets-examples/doc-formats-csv-3.

The Residential School Locations Dataset [IRS_Locations.csv] contains the locations (latitude and longitude) of Residential Schools and student hostels operated by the federal government in Canada. All the residential schools and hostels that are listed in the Indian Residential School Settlement Agreement are included in this dataset, as well as several Industrial schools and residential schools that were not part of the IRRSA. This version of the dataset doesn’t include the five schools under the Newfoundland and Labrador Residential Schools Settlement Agreement. The original school location data was created by the Truth and Reconciliation Commission, and was provided to the researcher (Rosa Orlandini) by the National Centre for Truth and Reconciliation in April 2017. The dataset was created by Rosa Orlandini, and builds upon and enhances the previous work of the Truth and Reconcilation Commission, Morgan Hite (creator of the Atlas of Indian Residential Schools in Canada that was produced for the Tk'emlups First Nation and Justice for Day Scholar's Initiative, and Stephanie Pyne (project lead for the Residential Schools Interactive Map). Each individual school location in this dataset is attributed either to RSIM, Morgan Hite, NCTR or Rosa Orlandini. Many schools/hostels had several locations throughout the history of the institution. If the school/hostel moved from its’ original location to another property, then the school is considered to have two unique locations in this dataset,the original location and the new location. For example, Lejac Indian Residential School had two locations while it was operating, Stuart Lake and Fraser Lake. If a new school building was constructed on the same property as the original school building, it isn't considered to be a new location, as is the case of Girouard Indian Residential School.When the precise location is known, the coordinates of the main building are provided, and when the precise location of the building isn’t known, an approximate location is provided. For each residential school institution location, the following information is provided: official names, alternative name, dates of operation, religious affiliation, latitude and longitude coordinates, community location, Indigenous community name, contributor (of the location coordinates), school/institution photo (when available), location point precision, type of school (hostel or residential school) and list of references used to determine the location of the main buildings or sites.

[doc] formats - csv - 1

This dataset contains one csv file at the root:

data.csv

kind,sound dog,woof cat,meow pokemon,pika human,hello

The YAML section of the README does not contain anything related to loading the data (only the size category metadata):

size_categories:

- n<1K

This dataset contains >800K CSV files behind the GitTables 1M corpus.

For more information about the GitTables corpus, visit:

- our website for GitTables, or

- the main GitTables download page on Zenodo.

Walmart products sample dataset having 1000+ records in CSV format. Download monthly dataset for walmart data and it having around 100K+ records.

Get 50% discount for all datasets. Link

Complete dataset of “Film Circulation on the International Film Festival Network and the Impact on Global Film Culture”

A peer-reviewed data paper for this dataset is in review to be published in NECSUS_European Journal of Media Studies - an open access journal aiming at enhancing data transparency and reusability, and will be available from https://necsus-ejms.org/ and https://mediarep.org

Please cite this when using the dataset.

Detailed description of the dataset:

1 Film Dataset: Festival Programs

The Film Dataset consists a data scheme image file, a codebook and two dataset tables in csv format.

The codebook (csv file “1_codebook_film-dataset_festival-program”) offers a detailed description of all variables within the Film Dataset. Along with the definition of variables it lists explanations for the units of measurement, data sources, coding and information on missing data.

The csv file “1_film-dataset_festival-program_long” comprises a dataset of all films and the festivals, festival sections, and the year of the festival edition that they were sampled from. The dataset is structured in the long format, i.e. the same film can appear in several rows when it appeared in more than one sample festival. However, films are identifiable via their unique ID.

The csv file “1_film-dataset_festival-program_wide” consists of the dataset listing only unique films (n=9,348). The dataset is in the wide format, i.e. each row corresponds to a unique film, identifiable via its unique ID. For easy analysis, and since the overlap is only six percent, in this dataset the variable sample festival (fest) corresponds to the first sample festival where the film appeared. For instance, if a film was first shown at Berlinale (in February) and then at Frameline (in June of the same year), the sample festival will list “Berlinale”. This file includes information on unique and IMDb IDs, the film title, production year, length, categorization in length, production countries, regional attribution, director names, genre attribution, the festival, festival section and festival edition the film was sampled from, and information whether there is festival run information available through the IMDb data.

2 Survey Dataset

The Survey Dataset consists of a data scheme image file, a codebook and two dataset tables in csv format.

The codebook “2_codebook_survey-dataset” includes coding information for both survey datasets. It lists the definition of the variables or survey questions (corresponding to Samoilova/Loist 2019), units of measurement, data source, variable type, range and coding, and information on missing data.

The csv file “2_survey-dataset_long-festivals_shared-consent” consists of a subset (n=161) of the original survey dataset (n=454), where respondents provided festival run data for films (n=206) and gave consent to share their data for research purposes. This dataset consists of the festival data in a long format, so that each row corresponds to the festival appearance of a film.

The csv file “2_survey-dataset_wide-no-festivals_shared-consent” consists of a subset (n=372) of the original dataset (n=454) of survey responses corresponding to sample films. It includes data only for those films for which respondents provided consent to share their data for research purposes. This dataset is shown in wide format of the survey data, i.e. information for each response corresponding to a film is listed in one row. This includes data on film IDs, film title, survey questions regarding completeness and availability of provided information, information on number of festival screenings, screening fees, budgets, marketing costs, market screenings, and distribution. As the file name suggests, no data on festival screenings is included in the wide format dataset.

3 IMDb & Scripts

The IMDb dataset consists of a data scheme image file, one codebook and eight datasets, all in csv format. It also includes the R scripts that we used for scraping and matching.

The codebook “3_codebook_imdb-dataset” includes information for all IMDb datasets. This includes ID information and their data source, coding and value ranges, and information on missing data.

The csv file “3_imdb-dataset_aka-titles_long” contains film title data in different languages scraped from IMDb in a long format, i.e. each row corresponds to a title in a given language.

The csv file “3_imdb-dataset_awards_long” contains film award data in a long format, i.e. each row corresponds to an award of a given film.

The csv file “3_imdb-dataset_companies_long” contains data on production and distribution companies of films. The dataset is in a long format, so that each row corresponds to a particular company of a particular film.

The csv file “3_imdb-dataset_crew_long” contains data on names and roles of crew members in a long format, i.e. each row corresponds to each crew member. The file also contains binary gender assigned to directors based on their first names using the GenderizeR application.

The csv file “3_imdb-dataset_festival-runs_long” contains festival run data scraped from IMDb in a long format, i.e. each row corresponds to the festival appearance of a given film. The dataset does not include each film screening, but the first screening of a film at a festival within a given year. The data includes festival runs up to 2019.

The csv file “3_imdb-dataset_general-info_wide” contains general information about films such as genre as defined by IMDb, languages in which a film was shown, ratings, and budget. The dataset is in wide format, so that each row corresponds to a unique film.

The csv file “3_imdb-dataset_release-info_long” contains data about non-festival release (e.g., theatrical, digital, tv, dvd/blueray). The dataset is in a long format, so that each row corresponds to a particular release of a particular film.

The csv file “3_imdb-dataset_websites_long” contains data on available websites (official websites, miscellaneous, photos, video clips). The dataset is in a long format, so that each row corresponds to a website of a particular film.

The dataset includes 8 text files containing the script for webscraping. They were written using the R-3.6.3 version for Windows.

The R script “r_1_unite_data” demonstrates the structure of the dataset, that we use in the following steps to identify, scrape, and match the film data.

The R script “r_2_scrape_matches” reads in the dataset with the film characteristics described in the “r_1_unite_data” and uses various R packages to create a search URL for each film from the core dataset on the IMDb website. The script attempts to match each film from the core dataset to IMDb records by first conducting an advanced search based on the movie title and year, and then potentially using an alternative title and a basic search if no matches are found in the advanced search. The script scrapes the title, release year, directors, running time, genre, and IMDb film URL from the first page of the suggested records from the IMDb website. The script then defines a loop that matches (including matching scores) each film in the core dataset with suggested films on the IMDb search page. Matching was done using data on directors, production year (+/- one year), and title, a fuzzy matching approach with two methods: “cosine” and “osa.” where the cosine similarity is used to match titles with a high degree of similarity, and the OSA algorithm is used to match titles that may have typos or minor variations.

The script “r_3_matching” creates a dataset with the matches for a manual check. Each pair of films (original film from the core dataset and the suggested match from the IMDb website was categorized in the following five categories: a) 100% match: perfect match on title, year, and director; b) likely good match; c) maybe match; d) unlikely match; and e) no match). The script also checks for possible doubles in the dataset and identifies them for a manual check.

The script “r_4_scraping_functions” creates a function for scraping the data from the identified matches (based on the scripts described above and manually checked). These functions are used for scraping the data in the next script.

The script “r_5a_extracting_info_sample” uses the function defined in the “r_4_scraping_functions”, in order to scrape the IMDb data for the identified matches. This script does that for the first 100 films, to check, if everything works. Scraping for the entire dataset took a few hours. Therefore, a test with a subsample of 100 films is advisable.

The script “r_5b_extracting_info_all” extracts the data for the entire dataset of the identified matches.

The script “r_5c_extracting_info_skipped” checks the films with missing data (where data was not scraped) and tried to extract data one more time to make sure that the errors were not caused by disruptions in the internet connection or other technical issues.

The script “r_check_logs” is used for troubleshooting and tracking the progress of all of the R scripts used. It gives information on the amount of missing values and errors.

4 Festival Library Dataset

The Festival Library Dataset consists of a data scheme image file, one codebook and one dataset, all in csv format.

The codebook (csv file “4_codebook_festival-library_dataset”) offers a detailed description of all variables within the Library Dataset. It lists the definition of variables, such as location and festival name, and festival categories, units of measurement, data sources and coding and missing data.

The csv file “4_festival-library_dataset_imdb-and-survey” contains data on all unique festivals collected from both IMDb and survey sources. This dataset appears in wide format, all information for each festival is listed in one row. This

[doc] formats - csv - 2

This dataset contains one csv file at the root:

data.csv

kind,sound dog,woof cat,meow pokemon,pika human,hello

We define the separator as "," in the YAML config, as well as the config name and the location of the file, with a glob expression:

configs: - config_name: default data_files: "*.csv" sep: "," size_categories:

- n<1K

A diverse selection of 1000 empirical time series, along with results of an hctsa feature extraction, using v1.06 of hctsa and Matlab 2019b, computed on a server at The University of Sydney.The results of the computation are in the hctsa file, HCTSA_Empirical1000.mat for use in Matlab using v1.06 of hctsa.The same data is also provided in .csv format for the hctsa_datamatrix.csv (results of feature computation), with information about rows (time series) in hctsa_timeseries-info.csv, information about columns (features) in hctsa_features.csv (and corresponding hctsa code used to compute each feature in hctsa_masterfeatures.csv), and the data of individual time series (each line a time series, for time series described in hctsa_timeseries-info.csv) is in hctsa_timeseries-data.csv. These .csv files were produced by running >>OutputToCSV(HCTSA_Empirical1000.mat,true,true); in hctsa.The input file, INP_Empirical1000.mat, is for use with hctsa, and contains the time-series data and metadata for the 1000 time series. For example, massive feature extraction from these data on the user's machine, using hctsa, can proceed as>> TS_Init('INP_Empirical1000.mat');Some visualizations of the dataset are in CarpetPlot.png (first 1000 samples of all time series as a carpet (color) plot) and 150TS-250samples.png (conventional time-series plots of the first 250 samples of a sample of 150 time series from the dataset). More visualizations can be performed by the user using TS_PlotTimeSeries from the hctsa package.See links in references for more comprehensive documentation for performing methodological comparison using this dataset, and on how to download and use v1.06 of hctsa.

Gain access to a structured dataset featuring thousands of products listed on Amazon India. This dataset is ideal for e-commerce analytics, competitor research, pricing strategies, and market trend analysis.

Dataset Features:

• Product Details: Name, Brand, Category, and Unique ID

• Pricing Information: Current Price, Discounted Price, and Currency

• Availability & Ratings: Stock Status, Customer Ratings, and Reviews

• Seller Information: Seller Name and Fulfillment Details

• Additional Attributes: Product Description, Specifications, and Images

Dataset Specifications:

• Format: CSV

• Number of Records: 50,000+

• Delivery Time: 3 Days

• Price: $149.00

• Availability: Immediate

This dataset provides structured and actionable insights to support e-commerce businesses, pricing strategies, and product optimization. If you're looking for more datasets for e-commerce analysis, explore our E-commerce datasets for a broader selection.

Raw Data in .csv format for use with the R data wrangling scripts.

The dataset is a set of network traffic traces in pcap/csv format captured from a single user. The traffic is classified in 5 different activities (Video, Bulk, Idle, Web, and Interactive) and the label is shown in the filename. There is also a file (mapping.csv) with the mapping of the host's IP address, the csv/pcap filename and the activity label.

Activities:

Interactive: applications that perform real-time interactions in order to provide a suitable user experience, such as editing a file in google docs and remote CLI's sessions by SSH. Bulk data transfer: applications that perform a transfer of large data volume files over the network. Some examples are SCP/FTP applications and direct downloads of large files from web servers like Mediafire, Dropbox or the university repository among others. Web browsing: contains all the generated traffic while searching and consuming different web pages. Examples of those pages are several blogs and new sites and the moodle of the university. Vídeo playback: contains traffic from applications that consume video in streaming or pseudo-streaming. The most known server used are Twitch and Youtube but the university online classroom has also been used. Idle behaviour: is composed by the background traffic generated by the user computer when the user is idle. This traffic has been captured with every application closed and with some opened pages like google docs, YouTube and several web pages, but always without user interaction.

The capture is performed in a network probe, attached to the router that forwards the user network traffic, using a SPAN port. The traffic is stored in pcap format with all the packet payload. In the csv file, every non TCP/UDP packet is filtered out, as well as every packet with no payload. The fields in the csv files are the following (one line per packet): Timestamp, protocol, payload size, IP address source and destination, UDP/TCP port source and destination. The fields are also included as a header in every csv file.

The amount of data is stated as follows:

Bulk : 19 traces, 3599 s of total duration, 8704 MBytes of pcap files Video : 23 traces, 4496 s, 1405 MBytes Web : 23 traces, 4203 s, 148 MBytes Interactive : 42 traces, 8934 s, 30.5 MBytes Idle : 52 traces, 6341 s, 0.69 MBytes

The code of our machine learning approach is also included. There is a README.txt file with the documentation of how to use the code.

The event logs in CSV format. The dataset contains both correlated and uncorrelated logs

https://i.imgur.com/PcSDv8A.png" alt="Imgur">

Overview

The dataset provided here is a rich compilation of various data files gathered to support diverse analytical challenges and education in data science. It is especially curated to provide researchers, data enthusiasts, and students with real-world data across different domains, including biostatistics, travel, real estate, sports, media viewership, and more.

Files

Below is a brief overview of what each CSV file contains: - Addresses: Practical examples of string manipulation and address data formatting in CSV. - Air Travel: Historical dataset suitable for analyzing trends in air travel over a period of three years. - Biostats: A dataset of office workers' biometrics, ideal for introductory statistics and biology. - Cities: Geographic and administrative data for urban analysis or socio-demographic studies. - Car Crashes in Catalonia: Weekly traffic accident data from Catalonia, providing a base for public policy research. - De Niro's Film Ratings: Analyze trends in film ratings over time with this entertainment-focused dataset. - Ford Escort Sales: Pre-owned vehicle sales data, perfect for regression analysis or price prediction models. - Old Faithful Geyser: Geological data for pattern recognition and prediction in natural phenomena. - Freshman Year Weights and BMIs: Dataset depicting weight and BMI changes for health and lifestyle studies. - Grades: Education performance data which can be correlated with demographics or study patterns. - Home Sales: A dataset reflecting the housing market dynamics, useful for economic analysis or real estate appraisal. - Hooke's Law Demonstration: Physics data illustrating the classic principle of elasticity in springs. - Hurricanes and Storm Data: Climate data on hurricane and storm frequency for environmental risk assessments. - Height and Weight Measurements: Public health research dataset on anthropometric data. - Lead Shot Specs: Detailed engineering data for material sciences and manufacturing studies. - Alphabet Letter Frequency: Text analysis dataset for frequency distribution studies in large text samples. - MLB Player Statistics: Comprehensive athletic data set for analysis of performance metrics in sports. - MLB Teams' Seasonal Performance: A dataset combining financial and sports performance data from the 2012 MLB season. - TV News Viewership: Media consumption data which can be used to analyze viewing patterns and trends. - Historical Nile Flood Data: A unique environmental dataset for historical trend analysis in flood levels. - Oscar Winner Ages: A dataset to explore age trends among Oscar-winning actors and actresses. - Snakes and Ladders Statistics: Data from the game outcomes useful in studying probability and game theory. - Tallahassee Cab Fares: Price modeling data from the real-world pricing of taxi services. - Taxable Goods Data: A snapshot of economic data concerning taxation impact on prices. - Tree Measurements: Ecological and environmental science data related to tree growth and forest management. - Real Estate Prices from Zillow: Market analysis dataset for those interested in housing price determinants.

Format

The enclosed data respect the comma-separated values (CSV) file format standards, ensuring compatibility with most data processing libraries in Python, R, and other languages. The datasets are ready for import into Jupyter notebooks, RStudio, or any other integrated development environment (IDE) used for data science.

Quality Assurance

The data is pre-checked for common issues such as missing values, duplicate records, and inconsistent entries, offering a clean and reliable dataset for various analytical exercises. With initial header lines in some CSV files, users can easily identify dataset fields and start their analysis without additional data cleaning for headers.

Acknowledgements

The dataset adheres to the GNU LGPL license, making it freely available for modification and distribution, provided that the original source is cited. This opens up possibilities for educators to integrate real-world data into curricula, researchers to validate models against diverse datasets, and practitioners to refine their analytical skills with hands-on data.

This dataset has been compiled from https://people.sc.fsu.edu/~jburkardt/data/csv/csv.html, with gratitude to the authors and maintainers for their dedication to providing open data resources for educational and research purposes. https://i.imgur.com/HOtyghv.png" alt="Imgur">

This dataset was taken from the GitHub Repository. This dataset is made public by Databricks for research and commercial use-cases. Originally the repository provides a jsonl file which was used to create a csv file included in this dataset.

Summary

Blog post: Free Dolly: Introducing the World's First Truly Open Instruction-Tuned LLM

databricks-dolly-15k is an open source dataset of instruction-following records used in training databricks/dolly-v2-12b that was generated by thousands of Databricks employees in several of the behavioral categories outlined in the InstructGPT paper, including brainstorming, classification, closed QA, generation, information extraction, open QA, and summarization.

This dataset can be used for any purpose, whether academic or commercial, under the terms of the Creative Commons Attribution-ShareAlike 3.0 Unported License.

Supported Tasks: - Training LLMs - Synthetic Data Generation - Data Augmentation

Languages: English Version: 1.0

Owner: Databricks, Inc.

Dataset Overview

databricks-dolly-15k is a corpus of more than 15,000 records generated by thousands of Databricks employees to enable large language models to exhibit the magical interactivity of ChatGPT. Databricks employees were invited to create prompt / response pairs in each of eight different instruction categories, including the seven outlined in the InstructGPT paper, as well as an open-ended free-form category. The contributors were instructed to avoid using information from any source on the web with the exception of Wikipedia (for particular subsets of instruction categories), and explicitly instructed to avoid using generative AI in formulating instructions or responses. Examples of each behavior were provided to motivate the types of questions and instructions appropriate to each category.

Halfway through the data generation process, contributors were given the option of answering questions posed by other contributors. They were asked to rephrase the original question and only select questions they could be reasonably expected to answer correctly.

For certain categories contributors were asked to provide reference texts copied from Wikipedia. Reference text (indicated by the context field in the actual dataset) may contain bracketed Wikipedia citation numbers (e.g. [42]) which we recommend users remove for downstream applications.

Intended Uses

While immediately valuable for instruction fine tuning large language models, as a corpus of human-generated instruction prompts, this dataset also presents a valuable opportunity for synthetic data generation in the methods outlined in the Self-Instruct paper. For example, contributor--generated prompts could be submitted as few-shot examples to a large open language model to generate a corpus of millions of examples of instructions in each of the respective InstructGPT categories.

Likewise, both the instructions and responses present fertile ground for data augmentation. A paraphrasing model might be used to restate each prompt or short responses, with the resulting text associated to the respective ground-truth sample. Such an approach might provide a form of regularization on the dataset that could allow for more robust instruction-following behavior in models derived from these synthetic datasets.

Dataset

Purpose of Collection

As part of our continuing commitment to open source, Databricks developed what is, to the best of our knowledge, the first open source, human-generated instruction corpus specifically designed to enable large language models to exhibit the magical interactivity of ChatGPT. Unlike other datasets that are limited to non-commercial use, this dataset can be used, modified, and extended for any purpose, including academic or commercial applications.

Sources

• Human-generated data: Databricks employees were invited to create prompt / response pairs in each of eight different instruction categories.
• Wikipedia: For instruction categories that require an annotator to consult a reference text (information extraction, closed QA, summarization) contributors selected passages from Wikipedia for particular subsets of instruction categories. No guidance was given to annotators as to how to select the target passages.

Annotator Guidelines

To create a record, employees were given a brief description of the annotation task as well as examples of the types of prompts typical of each annotation task. Guidelines were succinct by design so as to encourage a high task completion rate, possibly at the cost of rigorous co...

Netflix is a streaming service and production company. Crawl feeds team extracted more than 100 records from netflix for quality analysis purposes. Get in touch with crawl feeds team for complete dataset. Last extracted on 5 mar 2022

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This is an example dataset recorded using version 1.0 of the open-source-hardware OpenAXES IMU. Please see the github repository for more information on the hardware and firmware. Please find the most up-to-date version of this document in the repository

This dataset was recorded using four OpenAXES IMUs mounted on the segments of a robot arm (UR5 by Universal Robots). The robot arm was programmed to perform a calibration movement, then trace a 2D circle or triangle in the air with its tool center point (TCP), and return to its starting position, at four different speeds from 100 mm/s to 250 mm/s. This results in a total of 8 different scenarios (2 shapes times 4 speeds). The ground truth joint angle and TCP position values were obtained from the robot controller. The calibration movement at the beginning of the measurement allows for calculating the exact orientation of the sensors on the robot arm.

The IMUs were configured to send the raw data from the three gyroscope axes and the six accelerometer axes to a PC via BLE with 16 bit resolution per axis and 100 Hz sample rate. Since no data packets were lost during this process, this dataset allows comparing and tuning different sensor fusion algorithms on the recorded raw data while using the ground truth robot data as a reference.

In order to visualize the results, the quaternion sequences from the IMUs were applied to the individual segments of a 3D model of the robot arm. The end of this kinematic chain represents the TCP of the virtual model, which should ideally move along the same trajectory as the ground truth, barring the accuracy of the IMUs. Since the raw sensor data of these measurements is available, the calibration coefficients can also be applied ex-post.

Since there are are 6 joints but only 4 IMUS, some redundancy must be exploited. The redundancy comes from the fact that each IMU has 3 rotational degrees of fredom, but each joint has only one:

• The data for q0 and q1 are both derived from the orientation of the "humerus" IMU.
• q2 is the difference^† between the orientation of the "humerus" and "radius" IMUs.
• q3 is the difference between the orientation of the "radius" and "carpus" IMUs.
• q4 is the difference between the orientation of the "carpus" and "digitus" IMUs.
• The joint q5 does not influence the position of the TCP, only its orientation, so it is ignored in the evaluation.
• ^† Of course, difference here means not the subtraction of the quaternions but the rotational difference, which is the R1 * inv(R0) for two quaternions (or rotations) R0 and R1. The actual code works a bit differently, but this describes the general principle.

Data

• Data recorded from the IMUs is in the directory measure_raw-2022-09-15/, one folder per scenario. In those folders, there is one CSV file per IMU.
• Data recorded from the robot arm is in the directory measure_raw-2022-09-15/robot/, one CSV and MAT file per scenario.
• Some photos and videos of the recording process can be found in Media. Videos are stored in git lfs.

Evaluation

The file openaxes-example-robot-dataset.ipynb is provided to play around with the data in the dataset and demonstrate how the files are read and interpreted. To use the notebook, set up a Python 3 virtual environment and therein install the necessary packets with pip install -r resuirements.txt. In order to view the graphs contained in the ipynb file, you will most likely have to trust the notebook beforehand, using the following command:

jupyter trust openaxes-example-robot-dataset.ipynb

Beware: This notebook is not a comprehensive evaluation and any results and plots shown in the file are not necessarily scientifically sound evidence of anything.

The notebook will store intermediate files in the measure_raw-2022-09-15 directory, like the quaternion files calculated by the different filters, or the files containing the reconstructed TCP positions. All intermediate files should be ignored by the file measure_raw-2022-09-15/.gitignore.

The generated intermediate files are also provided in the file measure_raw-2022-09-15.tar.bz2, in case you want to inspect the generated files without running the the notebook.

Tools

A number of tools are used in the evaluation notebook. Below is a short overview, but not a complete specification. If you need to understand the input and output formats for each tool, please read the code.

• The file calculate-quaternions.py is used in the evaluation notebook to compute different attitude estimation filters like Madgwick or VQF on the raw accelerometer and gyroscrope measurements at 100 Hz.
• The directory madgwick-filter contains a small C program that applies the original Madgwick filter to a CSV file containing raw measurements and prints the results. It is used by calculate-quaternions.py.
• The file calculate-robot-quaternions.py calculates a CSV file of quaternions equivalent to the IMU quaternions from a CSV file containing the joint angles of the robot.
• The program dsense_vis mentioned in the notebook is used to calculate the 3D model of the robot arm from quaternions and determine the mounting orientations of the IMUs on the robot arm. This program will be released at a future date. In the meantime, the output files of dsense_vis are provided in the file measure_raw-2022-09-15.tar.bz2, which contains the complete content of the measure_raw-2022-09-15 directory after executing the whole notebook. Just unpack this archive and merge its contents with the measure_raw-2022-09-15 directory. This allows you to explore the reconstructed TCP files for the filters implemented at the time of publication.

Dataset

This dataset was created by Satish Gunjal

Released under Other (specified in description)

Contents

These four labeled data sets are targeted at ordinal quantification. The goal of quantification is not to predict the label of each individual instance, but the distribution of labels in unlabeled sets of data.

With the scripts provided, you can extract CSV files from the UCI machine learning repository and from OpenML. The ordinal class labels stem from a binning of a continuous regression label.

We complement this data set with the indices of data items that appear in each sample of our evaluation. Hence, you can precisely replicate our samples by drawing the specified data items. The indices stem from two evaluation protocols that are well suited for ordinal quantification. To this end, each row in the files app_val_indices.csv, app_tst_indices.csv, app-oq_val_indices.csv, and app-oq_tst_indices.csv represents one sample.

Our first protocol is the artificial prevalence protocol (APP), where all possible distributions of labels are drawn with an equal probability. The second protocol, APP-OQ, is a variant thereof, where only the smoothest 20% of all APP samples are considered. This variant is targeted at ordinal quantification tasks, where classes are ordered and a similarity of neighboring classes can be assumed.

Usage

You can extract four CSV files through the provided script extract-oq.jl, which is conveniently wrapped in a Makefile. The Project.toml and Manifest.toml specify the Julia package dependencies, similar to a requirements file in Python.

Preliminaries: You have to have a working Julia installation. We have used Julia v1.6.5 in our experiments.

Data Extraction: In your terminal, you can call either

make

(recommended), or

julia --project="." --eval "using Pkg; Pkg.instantiate()"
julia --project="." extract-oq.jl

Outcome: The first row in each CSV file is the header. The first column, named "class_label", is the ordinal class.

Further Reading

Implementation of our experiments: https://github.com/mirkobunse/regularized-oq