📃Rotating without Seeing

Towards In-hand Dexterity through Touch

1 Introduction

2 Method

overview

2.1 Problem Definition

2.1.1 Action

import matplotlib.pyplot as plt
import numpy as np

# Parameters
eta = 0.8  # Smoothing factor
steps = 2  # Step size for x-axis
n_points = 200  # Number of points

# Generate data
x = np.arange(0, n_points, steps)
data = np.sin(x / 5) + np.random.normal(0, 0.3, len(x))  # Random data with noise
ema = []

# Calculate EMA
for i, point in enumerate(data):
    if i == 0:
        ema.append(point)  # Initialize EMA with the first data point
    else:
        ema.append(eta * point + (1 - eta) * ema[-1])

# Plot
plt.figure(figsize=(8, 3))
plt.plot(x, data, label="Data", marker="o", linestyle="--", alpha=0.6)
plt.plot(x, ema, label="Exponential Moving Average (EMA)", linewidth=2)
plt.xlabel("Step")
plt.ylabel("Value")
plt.title(f"Exponential Moving Average (eta={eta}, step={steps}) ")
plt.legend()
plt.grid(True)
plt.show()

3 Reference

• Original Paper
• Project Homepage