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Fourier Latent Dynamics for Motion Learning — Poster

Conference poster detailing Fourier Latent Dynamics (FLD) for physics-based motion learning, covering policy learning, online tracking, and adaptive target sampling via ALP-GMM.

Paper context

Paper title: FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning Abstract: Conference poster detailing Fourier Latent Dynamics (FLD) for physics-based motion learning, covering policy learning, online tracking, and adaptive target sampling via ALP-GMM. Paper body (method & results): <!DOCTYPE html> <html lang="en"> <head> <meta content="text/html; charset=utf-8" http-equiv="content-type"/> <title>FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning</title> <!--Generated on Wed Feb 21 13:58:52 2024 by LaTeXML (version 0.8.7) http://dlmf.nist.gov/LaTeXML/.--> <meta content="width=device-width, initial-scale=1, shrink-to-fit=no" name="viewport"/> <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.3.0/dist/css/bootstrap.min.css" rel="stylesheet" type="text/css"/> <link href="/static/browse/0.3.4/css/ar5iv_0.7.4.min.css" rel="stylesheet" type="text/css"/> <link href="/static/browse/0.3.4/css/latexml_styles.css" rel="stylesheet" type="text/css"/> <script src="https://cdn.jsdelivr.net/npm/bootstrap@5.3.0/dist/js/bootstrap.bundle.min.js"></script> <script src="https://cdnjs.cloudflare.com/ajax/libs/html2canvas/1.3.3/html2canvas.min.js"></script> <script src="/static/browse/0.3.4/js/addons.js"></script> <script src="/static/browse/0.3.4/js/feedbackOverlay.js"></script> <base href="/html/2402.13820v1/"/></head> <body> <nav class="ltx_page_navbar"> <nav class="ltx_TOC"> <ol class="ltx_toclist"> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S1" title="1 Introduction ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">1 </span>Introduction</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S2" title="2 Related work ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">2 </span>Related work</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S3" title="3 Preliminaries ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3 </span>Preliminaries</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"> <a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S4" title="4 Approach ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4 </span>Approach</span></a> <ol class="ltx_toclist ltx_toclist_section"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S4.SS1" title="4.1 Problem formulation ‣ 4 Approach ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.1 </span>Problem formulation</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S4.SS2" title="4.2 Fourier Latent Dynamics ‣ 4 Approach ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.2 </span>Fourier Latent Dynamics</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"> <a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S4.SS3" title="4.3 Motion learning ‣ 4 Approach ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.3 </span>Motion learning</span></a> <ol class="ltx_toclist ltx_toclist_subsection"> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S4.SS3.SSS1" title="4.3.1 Policy training ‣ 4.3 Motion learning ‣ 4 Approach ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.3.1 </span>Policy training</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S4.SS3.SSS2" title="4.3.2 Online tracking and fallback mechanism ‣ 4.3 Motion learning ‣ 4 Approach ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.3.2 </span>Online tracking and fallback mechanism</span></a></li> </ol> </li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_section"> <a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S5" title="5 Experiments ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">5 </span>Experiments</span></a> <ol class="ltx_toclist ltx_toclist_section"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S5.SS1" title="5.1 Structured motion representation ‣ 5 Experiments ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">5.1 </span>Structured motion representation</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S5.SS2" title="5.2 Motion reconstruction and prediction ‣ 5 Experiments ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">5.2 </span>Motion reconstruction and prediction</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S5.SS3" title="5.3 Motion tracking and fallback ‣ 5 Experiments ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">5.3 </span>Motion tracking and fallback</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S5.SS4" title="5.4 Extended discussion: skill sampler design ‣ 5 Experiments ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">5.4 </span>Extended discussion: skill sampler design</span></a></li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#S6" title="6 Conclusion ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6 </span>Conclusion</span></a></li> <li class="ltx_tocentry ltx_tocentry_appendix"> <a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1" title="Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A </span>Appendix</span></a> <ol class="ltx_toclist ltx_toclist_appendix"> <li class="ltx_tocentry ltx_tocentry_subsection"> <a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS1" title="A.1 Motion representation details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.1 </span>Motion representation details</span></a> <ol class="ltx_toclist ltx_toclist_subsection"> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS1.SSS1" title="A.1.1 State space ‣ A.1 Motion representation details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.1.1 </span>State space</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS1.SSS2" title="A.1.2 Representation training parameters ‣ A.1 Motion representation details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.1.2 </span>Representation training parameters</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS1.SSS3" title="A.1.3 Latent manifold ‣ A.1 Motion representation details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.1.3 </span>Latent manifold</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS1.SSS4" title="A.1.4 Reference motions ‣ A.1 Motion representation details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.1.4 </span>Reference motions</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS1.SSS5" title="A.1.5 Similarity evaluation ‣ A.1 Motion representation details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.1.5 </span>Similarity evaluation</span></a></li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_subsection"> <a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS2" title="A.2 Motion learning details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.2 </span>Motion learning details</span></a> <ol class="ltx_toclist ltx_toclist_subsection"> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS2.SSS1" title="A.2.1 Observation and action space ‣ A.2 Motion learning details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.2.1 </span>Observation and action space</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_ref" href="https://arxiv.org/html/2402.13820v1#A1.SS2.SSS2" title="A.2.2 Policy training parameters ‣ A.2 Motion learning details ‣ Appendix A Appendix ‣ FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.2.2 </span>Policy training parameters</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsubsection"><a class="ltx_r

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