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Graphical models illustrating traditional MoSeq and keypoint-MoSeq. In both models, a discrete syllable sequence governs pose dynamics in a low-dimensional pose state; these pose dynamics are either described using principal component analysis (PCA; as in 'MoSeq'; left) or inferred from keypoint observations in conjunction with the animal's centroid and heading, as well as a noise scale that discounts keypoint detection errors (as in 'keypoint-MoSeq'; right).

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