# Robust Motion In-betweening

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60:4 Harvey et al.proposed by Chiu et al. [2019]. We combine this architecture withthe feed-forward encoders of Harvey et al. [2018] applied to different parts of the input to allow our embedding modifiers to beapplied on distinct parts of the inputs. In our case, we operate onjoint-local quaternions for all bones, except for the root, for whichwe use quaternions and translations local to the last seed frame.2.3Transition generationWe define transition generation as a type of control with temporallysparse spatial constraints, i.e. where large gaps of motion must befilled without explicit conditioning during the missing frames suchas trajectory or contact information. This is related to keyframeor motion interpolation (e.g. [Ciccone et al. 2019]), but our workextends interpolation in that the system allows for generating wholecycles of motion, which cannot be done by most key-based interpolation techniques, such a spline fitting. Pioneering approaches[Cohen et al. 1996; Witkin and Kass 1988] on trans

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