A small tool to view real-world ActivityPub objects as JSON! Enter a URL
or username from Mastodon or a similar service below, and we'll send a
request with
the right
Accept
header
to the server to view the underlying object.
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"id": "https://synapse.cafe/users/lili/statuses/112321899195938143",
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"published": "2024-04-23T18:16:06Z",
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"content": "<p>3/7</p><p>We introduce a model architecture that integrates aspects of different past models. We train a neural network fit on real fly walking with no perturbations or sensorimotor delays to act as a trajectory planner. We place this planner in a layered architecture. A controller interfaces between the dynamics of a fly leg and sensory/motor delays and the generator, and a coupled oscillator model syncs the legs.</p>",
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"name": "Multi-layered walking model architecture. Body-world interactions are mediated by a dynamics model. \r\n Proprioceptive feedback consists of joint angles and angular velocities.\r\n Each leg has an optimal controller operating at 600 Hz that interfaces with the dynamics model and a trajectory generator that generates realistic kinematics. \r\n The trajectory generator is learned from data and operates at 300 Hz. It interfaces with the phase coordinator, a Kuramoto oscillator that maintains inter-leg coupling. The trajectory generator and optimal controller mimic local circuits within each leg, so they do not interact with other legs. Phase coupling is the only information shared between all legs.",
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