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      <image:caption>The stars around my current birthstar, screenshot from Stellarium.</image:caption>
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      <image:caption>Do not stare too deeply into the motor, lest the motor stare back at you.</image:caption>
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      <image:title>toroidal k-means</image:title>
      <image:caption>Performance of various clustering approaches. Ground truth clusters are on the far left, one cluster is blue pluses, the other red crosses, middle left has the performance of the scipy kmeans2 algorithm, with errors in classification marked with black circles, middle right is toroidal k-means, and far left is toroidal k-medians.</image:caption>
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      <image:caption>Static stability of a sub optimal polyped doing forward and reverse walks from the demo software. This walkers gait is a little odd resulting in a suboptimal forward walk.</image:caption>
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      <image:caption>A Kohonen map fit to some synthetic data on a torus. On the left the torus has been cut up and laid out into a flat sheet. Blue scatter plot is the training data, red dots are the map. On the right is the same plot without cutting and rolling out the torus, and with a mesh of the torus included.</image:caption>
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