Figure 8.

The principles of the long-term velocity control function. The left examples, i.e., (a–d) show how much the difference between ${\mathbf{m}}_{t-1}$ and ${\mathbf{g}}_t$. The right graph shows a plot of the long-term velocity control function in two-dimensional space. Each arrow from the left to the right figures describes how these differences are mapped to the long-term velocity control function.