Overview
A double pendulum is a pendulum with another pendulum attached to its end. Despite being a simple physical system, it exhibits a rich dynamic behavior with a strong sensitivity to initial conditions and noises in the environment (motion of the air in the room, sound vibrations, vibration of the table due to coupling with the pendulum etc.)
In this dataset, videos of the double pendulum were taken using a high-speed Phantom Miro EX2 camera. To make the extraction of the arm positions easier, a matte black background was used, and the three datums were marked with red, green and blue fiducial markers. The camera was placed at 2 meters from the pendulum, with the axis of the objective aligned with the first pendulum datum. The pendulum was launched by hand, and the camera was motion triggered. The dataset was generated on the basis of 21 individual runs of the pendulum. Each of the recorded sequences lasted around 40s and consisted of around 17500 frames.
The original images are supplemented with two additional representations: marker positions and arm angles. Marker positions are three pairs (x,y) representing image coordinates of all three markers (each value is multiplied by 5). Arm angles are sines and cosines of two angles α and β, where α is the angle between the horizontal image line pointing right and the the first arm, whereas β is the angle between the first and second arm.
Dataset Metadata
| Field | Value |
|---|---|
| Format | CSV H.264 |
| License | CDLA-Sharing |
| Domain | Time Series |
| Number of Records | 21 videos, 378,099 annotated frames |
| Data Split | 95% training, 5% validation and testing |
| Size | 567 MB |
| Dataset Origin | IBM Research |
| Dataset Version | 2.0.1 |
| Data Coverage | Dataset was generated on the basis of 21 individual runs of a double pendulum. Each of the recorded sequences lasted around 40s and consisted of around 17500 frames. |
Dataset Archive Contents
| File or Folder | Description |
|---|---|
original/dpc_dataset_csv/ |
Folder containing all of the original dataset (in csv format with pendulum positions in each frame) |
original/dpc_dataset_h264/ |
Folder containg all the original videos of double pendulum simulations |
LICENSE.txt |
Terms of Use |
train_and_test_split/ |
dataset with train and test (4 frames input, 200 frames prediction), generated from the original videos |
Data Glossary and Preview
Click here to explore the data glossary, sample records, and additional dataset metadata.
Use the Dataset
This dataset is complemented by a data exploration and data analysis Python notebook to help you get started:
Citation
@InProceedings{asseman2018learning,
title={Learning beyond simulated physics},
author={Asseman, Alexis and Kornuta, Tomasz and Ozcan, Ahmet},
year={2018}
maintitle={Neural Information Processing Systems},
booktitle={Modeling and Decision-making in the Spatiotemporal Domain Workshop},
url={https://openreview.net/forum?id=HylajWsRF7},
}