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"""WallFollowing Dataset""" |
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from typing import List |
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from functools import partial |
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import datasets |
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import pandas |
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VERSION = datasets.Version("1.0.0") |
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_ENCODING_DICS = {} |
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DESCRIPTION = "WallFollowing dataset." |
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_HOMEPAGE = "https://archive-beta.ics.uci.edu/dataset/194/wall+following+robot+navigation+data" |
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_URLS = ("https://archive-beta.ics.uci.edu/dataset/194/wall+following+robot+navigation+data") |
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_CITATION = """ |
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@misc{misc_wall-following_robot_navigation_data_194, |
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author = {Freire,Ananda, Veloso,Marcus & Barreto,Guilherme}, |
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title = {{Wall-Following Robot Navigation Data}}, |
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year = {2010}, |
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howpublished = {UCI Machine Learning Repository}, |
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note = {{DOI}: \\url{10.24432/C57C8W}} |
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} |
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""" |
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urls_per_split = { |
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"train": "https://huggingface.co/datasets/mstz/wall_following/raw/main/wall_following.csv" |
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} |
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features_types_per_config = { |
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"wall_following": { |
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"US1": datasets.Value("float64"), |
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"US2": datasets.Value("float64"), |
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"US3": datasets.Value("float64"), |
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"US4": datasets.Value("float64"), |
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"US5": datasets.Value("float64"), |
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"US6": datasets.Value("float64"), |
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"US7": datasets.Value("float64"), |
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"US8": datasets.Value("float64"), |
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"US9": datasets.Value("float64"), |
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"US10": datasets.Value("float64"), |
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"US11": datasets.Value("float64"), |
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"US12": datasets.Value("float64"), |
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"US13": datasets.Value("float64"), |
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"US14": datasets.Value("float64"), |
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"US15": datasets.Value("float64"), |
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"US16": datasets.Value("float64"), |
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"US17": datasets.Value("float64"), |
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"US18": datasets.Value("float64"), |
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"US19": datasets.Value("float64"), |
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"US20": datasets.Value("float64"), |
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"US21": datasets.Value("float64"), |
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"US22": datasets.Value("float64"), |
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"US23": datasets.Value("float64"), |
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"US24": datasets.Value("float64"), |
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"class": datasets.ClassLabel(num_classes=4), |
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}, |
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"wall_following_0": { |
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"US1": datasets.Value("float64"), |
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"US2": datasets.Value("float64"), |
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"US3": datasets.Value("float64"), |
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"US4": datasets.Value("float64"), |
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"US5": datasets.Value("float64"), |
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"US6": datasets.Value("float64"), |
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"US7": datasets.Value("float64"), |
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"US8": datasets.Value("float64"), |
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"US9": datasets.Value("float64"), |
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"US10": datasets.Value("float64"), |
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"US11": datasets.Value("float64"), |
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"US12": datasets.Value("float64"), |
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"US13": datasets.Value("float64"), |
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"US14": datasets.Value("float64"), |
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"US15": datasets.Value("float64"), |
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"US16": datasets.Value("float64"), |
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"US17": datasets.Value("float64"), |
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"US18": datasets.Value("float64"), |
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"US19": datasets.Value("float64"), |
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"US20": datasets.Value("float64"), |
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"US21": datasets.Value("float64"), |
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"US22": datasets.Value("float64"), |
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"US23": datasets.Value("float64"), |
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"US24": datasets.Value("float64"), |
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"class": datasets.ClassLabel(num_classes=2), |
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}, |
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"wall_following_1": { |
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"US1": datasets.Value("float64"), |
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"US2": datasets.Value("float64"), |
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"US3": datasets.Value("float64"), |
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"US4": datasets.Value("float64"), |
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"US5": datasets.Value("float64"), |
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"US6": datasets.Value("float64"), |
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"US7": datasets.Value("float64"), |
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"US8": datasets.Value("float64"), |
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"US9": datasets.Value("float64"), |
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"US10": datasets.Value("float64"), |
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"US11": datasets.Value("float64"), |
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"US12": datasets.Value("float64"), |
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"US13": datasets.Value("float64"), |
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"US14": datasets.Value("float64"), |
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"US15": datasets.Value("float64"), |
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"US16": datasets.Value("float64"), |
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"US17": datasets.Value("float64"), |
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"US18": datasets.Value("float64"), |
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"US19": datasets.Value("float64"), |
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"US20": datasets.Value("float64"), |
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"US21": datasets.Value("float64"), |
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"US22": datasets.Value("float64"), |
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"US23": datasets.Value("float64"), |
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"US24": datasets.Value("float64"), |
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"class": datasets.ClassLabel(num_classes=2), |
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}, |
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"wall_following_2": { |
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"US1": datasets.Value("float64"), |
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"US2": datasets.Value("float64"), |
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"US3": datasets.Value("float64"), |
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"US4": datasets.Value("float64"), |
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"US5": datasets.Value("float64"), |
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"US6": datasets.Value("float64"), |
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"US7": datasets.Value("float64"), |
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"US8": datasets.Value("float64"), |
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"US9": datasets.Value("float64"), |
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"US10": datasets.Value("float64"), |
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"US11": datasets.Value("float64"), |
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"US12": datasets.Value("float64"), |
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"US13": datasets.Value("float64"), |
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"US14": datasets.Value("float64"), |
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"US15": datasets.Value("float64"), |
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"US16": datasets.Value("float64"), |
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"US17": datasets.Value("float64"), |
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"US18": datasets.Value("float64"), |
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"US19": datasets.Value("float64"), |
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"US20": datasets.Value("float64"), |
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"US21": datasets.Value("float64"), |
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"US22": datasets.Value("float64"), |
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"US23": datasets.Value("float64"), |
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"US24": datasets.Value("float64"), |
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"class": datasets.ClassLabel(num_classes=2), |
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}, |
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"wall_following_3": { |
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"US1": datasets.Value("float64"), |
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"US2": datasets.Value("float64"), |
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"US3": datasets.Value("float64"), |
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"US4": datasets.Value("float64"), |
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"US5": datasets.Value("float64"), |
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"US6": datasets.Value("float64"), |
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"US7": datasets.Value("float64"), |
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"US8": datasets.Value("float64"), |
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"US9": datasets.Value("float64"), |
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"US10": datasets.Value("float64"), |
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"US11": datasets.Value("float64"), |
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"US12": datasets.Value("float64"), |
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"US13": datasets.Value("float64"), |
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"US14": datasets.Value("float64"), |
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"US15": datasets.Value("float64"), |
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"US16": datasets.Value("float64"), |
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"US17": datasets.Value("float64"), |
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"US18": datasets.Value("float64"), |
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"US19": datasets.Value("float64"), |
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"US20": datasets.Value("float64"), |
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"US21": datasets.Value("float64"), |
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"US22": datasets.Value("float64"), |
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"US23": datasets.Value("float64"), |
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"US24": datasets.Value("float64"), |
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"class": datasets.ClassLabel(num_classes=2), |
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} |
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} |
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features_per_config = {k: datasets.Features(features_types_per_config[k]) for k in features_types_per_config} |
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class WallFollowingConfig(datasets.BuilderConfig): |
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def __init__(self, **kwargs): |
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super(WallFollowingConfig, self).__init__(version=VERSION, **kwargs) |
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self.features = features_per_config[kwargs["name"]] |
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class WallFollowing(datasets.GeneratorBasedBuilder): |
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DEFAULT_CONFIG = "wall_following" |
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BUILDER_CONFIGS = [ |
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WallFollowingConfig(name="wall_following", description="WallFollowing for multiclass classification."), |
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WallFollowingConfig(name="wall_following_0", description="WallFollowing for binary classification."), |
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WallFollowingConfig(name="wall_following_1", description="WallFollowing for binary classification."), |
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WallFollowingConfig(name="wall_following_2", description="WallFollowing for binary classification."), |
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WallFollowingConfig(name="wall_following_3", description="WallFollowing for binary classification."), |
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] |
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def _info(self): |
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info = datasets.DatasetInfo(description=DESCRIPTION, citation=_CITATION, homepage=_HOMEPAGE, |
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features=features_per_config[self.config.name]) |
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return info |
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def _split_generators(self, dl_manager: datasets.DownloadManager) -> List[datasets.SplitGenerator]: |
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downloads = dl_manager.download_and_extract(urls_per_split) |
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return [ |
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datasets.SplitGenerator(name=datasets.Split.TRAIN, gen_kwargs={"filepath": downloads["train"]}), |
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] |
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def _generate_examples(self, filepath: str): |
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data = pandas.read_csv(filepath) |
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data = self.preprocess(data) |
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for row_id, row in data.iterrows(): |
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data_row = dict(row) |
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yield row_id, data_row |
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def preprocess(self, data: pandas.DataFrame) -> pandas.DataFrame: |
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if self.config.name == "wall_following_0": |
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data["class"] = data["class"].apply(lambda x: 1 if x == 0 else 0) |
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elif self.config.name == "wall_following_1": |
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data["class"] = data["class"].apply(lambda x: 1 if x == 1 else 0) |
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elif self.config.name == "wall_following_2": |
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data["class"] = data["class"].apply(lambda x: 1 if x == 2 else 0) |
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elif self.config.name == "wall_following_3": |
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data["class"] = data["class"].apply(lambda x: 1 if x == 3 else 0) |
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for feature in _ENCODING_DICS: |
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encoding_function = partial(self.encode, feature) |
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data.loc[:, feature] = data[feature].apply(encoding_function) |
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return data[list(features_types_per_config[self.config.name].keys())] |
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def encode(self, feature, value): |
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if feature in _ENCODING_DICS: |
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return _ENCODING_DICS[feature][value] |
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raise ValueError(f"Unknown feature: {feature}") |
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