9909794d52985cbc5d95c26e31125d1a-AuthorFeedback.pdf

In turn, this embedding isthen used to generate the hyper-parameters of the low-level controller (line 152), namely28 weights,currentphase,anddesiredphaseprogression (line173). As the reviewer pointed out, multi-staging requires a38 significant amount ofadditional (human) feature engineering, which would, atthesame time, limit ourapproach to39 these features and may also be fragile in terms of generalizing to new words. Our framework learns how language40 affects the behavior (type, goal position, velocity,etc.)