Inverse Dynamics Filtering for Sampling‐based Motion Control
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Bibliographic record
Abstract
Abstract We improve the sampling‐based motion control method proposed by Liu et al. using inverse dynamics. To deal with noise in the motion capture we filter the motion data using a Butterworth filter where we choose the cutoff frequency such that the zero‐moment point falls within the support polygon for the greatest number of frames. We discuss how to detect foot contact for foot and ground optimization and inverse dynamics, and we optimize to increase the area of supporting polygon. Sample simulations receive filtered inverse dynamics torques at frames where the ZMP is sufficiently close to the support polygon, which simplifies the problem of finding the PD targets that produce physically valid control matching the target motion. We test our method on different motions and we demonstrate that our method has lower error, higher success rates, and generally produces smoother results.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it