Results

Metrics

Force Profile Accuracy (FPAcc): Measures how closely the predicted force profile $ \hat{x}_f $ matches the ground truth $ x_f $ using Mean Squared Error (MSE). $$ \text{FPAcc} = \text{MSE}(\hat{x}_f, x_f) $$
Force Direction Accuracy (FDAcc): Evaluates directional alignment between predicted impulse $ \hat{J}(T) $ and ground truth impulse $ J(T) $ using cosine similarity. $$ \text{FDAcc} = \frac{\hat{J}(T) \cdot J(T)}{||\hat{J}(T)|| \cdot ||J(T)||} $$
Modifier Similarity (ModSim): Cosine similarity between the predicted modifier $ \hat{w}_m $ and the ground truth $ w_m $ using SBERT embeddings $ E $. $$ \text{ModSim} = \frac{E(\hat{w}_m) \cdot E(w_m)}{||E(\hat{w}_m)|| \cdot ||E(w_m)||} $$
Direction Similarity (DirSim): Cosine similarity between predicted direction words $ \hat{w}_d $ and ground truth $ w_d $. $$ \text{DirSim} = \frac{E(\hat{w}_d) \cdot E(w_d)}{||E(\hat{w}_d)|| \cdot ||E(w_d)||} $$
Full Phrase Similarity (PhraseSim): Average of $ \text{ModSim} $ and $ \text{DirSim} $. $$ \text{PhraseSim} = \frac{1}{2} \left(\text{ModSim} + \text{DirSim} \right) $$

Baseline Models

$\text{SVM/KNN}$: Uses SVM to classify force signals into phrases and KNN to predict force profiles from phrases.
$\text{DMLP}_B$: Direct MLP mapping between force profiles and binary phrase vectors without a shared latent space.
$\text{DMLP}_G$: Direct MLP mapping between force profiles and GloVe-embedded phrases without a shared latent space.
$\text{DAE}_B$ (Ours): Dual autoencoder with binary phrase vectors.
$\text{DAE}G$ (Ours): Dual autoencoder with GloVe embeddings.

Experiments

To evaluate the effectiveness of our cross-modality embedding framework, we conducted three main experiments:

In-Distribution Evaluation: The dataset was randomly split into 90% training and 10% testing sets. Models were trained and tested on the same distribution of force–phrase pairs and averaged across 30 independent seeds to reduce variability in the results.
Out-of-Distribution Modifiers: To test generalization, we systematically held out one modifier word (e.g., “slowly”) from the training set while keeping it in the test set. This experiment measured how well the models handled unseen adverbial variations in force descriptions.
Out-of-Distribution Directions: Similar to the modifier experiment, we excluded a single direction word (e.g., “up”) from training and evaluated the model’s ability to generalize to new directional inputs. This tested whether the models could infer force trajectories for previously unseen movement directions.

Overall Results

Our framework outperforms baseline models in both force-to-language and language-to-force translation, demonstrating the effectiveness of a shared latent space.

Out-of-Distribution Modifier Performances — (b)

Out-of-Distribution Direction Performances — (c)

Performance comparison across models for: (a) in-distribution testing, (b) out-of-distribution modifiers, and (c) out-of-distribution directions. Higher values indicate better performance, except for FPAcc where lower values are better.

Analysis

Our results showed that the dual autoencoder (DAE) models significantly outperformed baseline approaches in both force-to-language and language-to-force translation. The DAE models achieved 20-30% better performance than simpler SVM and MLP-based baselines, demonstrating that a shared latent space effectively captures the bidirectional relationship between physical force and linguistic descriptions.

Additionally, the models successfully generalized to unseen modifiers and directions, particularly when using GloVe embeddings, which improved force profile reconstruction. However, we observed a trade-off between force reconstruction accuracy and linguistic precision: the GloVe-based model ($ \text{DAE}_G $) was better at estimating realistic force trajectories, while the binary phrase vector model ($ \text{DAE}_B $) provided more precise textual descriptions.

These findings confirm that integrating force and language into a unified representation enhances natural human-robot communication, with different representation choices offering advantages depending on whether force accuracy or linguistic fidelity is prioritized.

Additional Results

Translation Examples

Example predictions from both $\text{DAE}_B$ and $\text{DAE}_G$ variants for corresponding force profile—phrase pairs. We generated 10 different 90-10 training-test splits, ensuring that the union of all test sets covers the full dataset. Each data point was randomly assigned to one of 10 bins, with each bin serving as a distinct test set in one of the splits. The model was trained on the remaining 9 bins and evaluated on the held-out test bin. The examples below show model predictions for cases where the corresponding force-phrase pair was not explicitly seen during training.

Phrase-To-Force Trials

Corresponding force profile and phrase pairs collected from the Phrase-To-Force procedure.

Filter by Modifier: Filter by Direction:

User ID	Trial #	Phrase Text	Modifier	Direction	Trial Card
0	0	down	(None)	down	View
0	1	forward	(None)	forward	View
0	2	up	(None)	up	View
0	3	backward	(None)	backward	View
0	4	left	(None)	left	View
0	5	right	(None)	right	View
0	6	below sharply	sharply	down	View
0	7	sharply left and downward	sharply	down-left	View
0	8	leftward and behind	(None)	backward-left	View
0	9	up and to the right immediately	immediately	right-up	View
0	10	to the left and above significantly	significantly	left-up	View
0	11	sharply behind and right	sharply	backward-right	View
0	12	slowly leftward	slowly	left	View
0	13	right and backward	(None)	backward-right	View
0	14	immediately to the right	immediately	right	View
0	15	immediately ahead and up	immediately	forward-up	View
0	16	ahead smoothly	smoothly	forward	View
0	17	to the right and forward	(None)	forward-right	View
0	18	leftward and to the front	(None)	forward-left	View
0	19	backward and leftward	(None)	backward-left	View
0	20	to the front and down harshly	harshly	down-forward	View
0	21	harshly to the front and right	harshly	forward-right	View
0	22	softly below and right	softly	down-right	View
0	23	forward lightly	lightly	forward	View
0	24	to the front and to the left sharply	sharply	forward-left	View
0	25	sharply downward	sharply	down	View
0	26	lightly backward	lightly	backward	View
0	27	downward and right	(None)	down-right	View
0	28	to the left and backward	(None)	backward-left	View
0	29	ahead softly	softly	forward	View
0	30	down and left immediately	immediately	down-left	View
0	31	forward and below	(None)	down-forward	View
0	32	lightly backward	lightly	backward	View
0	33	left sharply	sharply	left	View
0	34	above and ahead	(None)	forward-up	View
0	35	left and to the back	(None)	backward-left	View
0	36	ahead slowly	slowly	forward	View
0	37	downward and left	(None)	down-left	View
0	38	immediately forward and up	immediately	forward-up	View
0	39	left and forward greatly	greatly	forward-left	View
0	40	slowly above	slowly	up	View
0	41	downward and behind	(None)	backward-down	View
1	0	left	(None)	left	View
1	1	forward	(None)	forward	View
1	2	up	(None)	up	View
1	3	right	(None)	right	View
1	4	down	(None)	down	View
1	5	backward	(None)	backward	View
1	6	to the front and downward	(None)	down-forward	View
1	7	to the back quickly	quickly	backward	View
1	8	smoothly right	smoothly	right	View
1	9	quickly rightward and downward	quickly	down-right	View
1	10	to the front and left slightly	slightly	forward-left	View
1	11	below significantly	significantly	down	View
1	12	ahead softly	softly	forward	View
1	13	quickly above	quickly	up	View
1	14	above and rightward greatly	greatly	right-up	View
1	15	rightward and up	(None)	right-up	View
1	16	forward softly	softly	forward	View
1	17	greatly forward	greatly	forward	View
1	18	below and to the front	(None)	down-forward	View
1	19	to the back and up	(None)	backward-up	View
1	20	lightly up and to the left	lightly	left-up	View
1	21	slowly below	slowly	down	View
1	22	above slightly	slightly	up	View
1	23	smoothly behind	smoothly	backward	View
1	24	slightly behind	slightly	backward	View
1	25	slowly down and forward	slowly	down-forward	View
1	26	quickly to the right and to the front	quickly	forward-right	View
1	27	immediately to the left and backward	immediately	backward-left	View
1	28	to the right and upward significantly	significantly	right-up	View
1	29	rightward and ahead	(None)	forward-right	View
1	30	below and to the left	(None)	down-left	View
1	31	upward and to the back	(None)	backward-up	View
1	32	significantly downward and to the right	significantly	down-right	View
1	33	to the front and to the left quickly	quickly	forward-left	View
1	34	below and forward	(None)	down-forward	View
1	35	downward and behind	(None)	backward-down	View
1	36	rightward and below	(None)	down-right	View
1	37	upward and to the right	(None)	right-up	View
1	38	backward and below	(None)	backward-down	View
1	39	to the back and left quickly	quickly	backward-left	View
1	40	forward and leftward sharply	sharply	forward-left	View
1	41	above smoothly	smoothly	up	View
2	0	down	(None)	down	View
2	1	forward	(None)	forward	View
2	2	right	(None)	right	View
2	3	up	(None)	up	View
2	4	backward	(None)	backward	View
2	5	left	(None)	left	View
2	6	slowly ahead and upward	slowly	forward-up	View
2	7	softly upward	softly	up	View
2	8	below and leftward	(None)	down-left	View
2	9	significantly down	significantly	down	View
2	10	to the back immediately	immediately	backward	View
2	11	ahead sharply	sharply	forward	View
2	12	leftward and backward immediately	immediately	backward-left	View
2	13	greatly backward and downward	greatly	backward-down	View
2	14	quickly to the left	quickly	left	View
2	15	to the front and upward	(None)	forward-up	View
2	16	to the back and upward	(None)	backward-up	View
2	17	backward and down slowly	slowly	backward-down	View
2	18	left and backward	(None)	backward-left	View
2	19	to the right and down	(None)	down-right	View
2	20	left and downward	(None)	down-left	View
2	21	slowly downward and to the back	slowly	backward-down	View
2	22	softly backward	softly	backward	View
2	23	below and to the right	(None)	down-right	View
2	24	downward and ahead	(None)	down-forward	View
2	25	smoothly left and behind	smoothly	backward-left	View
2	26	upward and leftward slowly	slowly	left-up	View
2	27	softly behind	softly	backward	View
2	28	backward and right quickly	quickly	backward-right	View
2	29	upward slowly	slowly	up	View
2	30	downward gradually	gradually	down	View
2	31	to the back and to the left	(None)	backward-left	View
2	32	to the back and rightward slowly	slowly	backward-right	View
2	33	to the front and downward	(None)	down-forward	View
2	34	lightly down and forward	lightly	down-forward	View
2	35	slightly to the back	slightly	backward	View
2	36	softly above and backward	softly	backward-up	View
2	37	left and down	(None)	down-left	View
2	38	to the left significantly	significantly	left	View
2	39	behind and above immediately	immediately	backward-up	View
2	40	behind and above	(None)	backward-up	View
2	41	above gradually	gradually	up	View
3	0	down	(None)	down	View
3	1	up	(None)	up	View
3	2	forward	(None)	forward	View
3	3	backward	(None)	backward	View
3	4	left	(None)	left	View
3	5	right	(None)	right	View
3	6	harshly backward and leftward	harshly	backward-left	View
3	7	leftward and below	(None)	down-left	View
3	8	down and left harshly	harshly	down-left	View
3	9	right and upward softly	softly	right-up	View
3	10	significantly to the back	significantly	backward	View
3	11	slightly to the front	slightly	forward	View
3	12	quickly down and backward	quickly	backward-down	View
3	13	forward sharply	sharply	forward	View
3	14	down and to the right	(None)	down-right	View
3	15	slowly to the back	slowly	backward	View
3	16	above and right quickly	quickly	right-up	View
3	17	downward and to the left	(None)	down-left	View
3	18	gradually behind and left	gradually	backward-left	View
3	19	to the left lightly	lightly	left	View
3	20	behind and left	(None)	backward-left	View
3	21	leftward and below lightly	lightly	down-left	View
3	22	leftward smoothly	smoothly	left	View
3	23	rightward and to the back	(None)	backward-right	View
3	24	up and to the back immediately	immediately	backward-up	View
3	25	upward and to the right	(None)	right-up	View
3	26	gradually rightward and below	gradually	down-right	View
3	27	slowly down and rightward	slowly	down-right	View
3	28	slowly up	slowly	up	View
3	29	down quickly	quickly	down	View
3	30	behind and downward	(None)	backward-down	View
3	31	below and behind	(None)	backward-down	View
3	32	leftward and below	(None)	down-left	View
3	33	slowly to the front	slowly	forward	View
3	34	slightly above	slightly	up	View
3	35	above slightly	slightly	up	View
3	36	ahead and below	(None)	down-forward	View
3	37	down and forward slowly	slowly	down-forward	View
3	38	to the front softly	softly	forward	View
3	39	right and above	(None)	right-up	View
3	40	softly up and to the back	softly	backward-up	View
3	41	downward and backward	(None)	backward-down	View
4	0	down	(None)	down	View
4	1	forward	(None)	forward	View
4	2	left	(None)	left	View
4	3	backward	(None)	backward	View
4	4	right	(None)	right	View
4	5	up	(None)	up	View
4	6	greatly ahead and leftward	greatly	forward-left	View
4	7	right harshly	harshly	right	View
4	8	forward and rightward	(None)	forward-right	View
4	9	slightly right	slightly	right	View
4	10	rightward and down	(None)	down-right	View
4	11	backward significantly	significantly	backward	View
4	12	quickly up	quickly	up	View
4	13	up greatly	greatly	up	View
4	14	below and backward immediately	immediately	backward-down	View
4	15	quickly up and to the right	quickly	right-up	View
4	16	quickly behind and to the right	quickly	backward-right	View
4	17	to the back and below	(None)	backward-down	View
4	18	gradually up	gradually	up	View
4	19	lightly left	lightly	left	View
4	20	behind and up greatly	greatly	backward-up	View
4	21	downward and to the front	(None)	down-forward	View
4	22	significantly ahead	significantly	forward	View
4	23	backward immediately	immediately	backward	View
4	24	leftward and to the back	(None)	backward-left	View
4	25	above and leftward gradually	gradually	left-up	View
4	26	to the left and upward	(None)	left-up	View
4	27	to the front and leftward	(None)	forward-left	View
4	28	upward and to the front	(None)	forward-up	View
4	29	leftward and forward	(None)	forward-left	View
4	30	gradually to the back and down	gradually	backward-down	View
4	31	quickly leftward	quickly	left	View
4	32	quickly ahead and left	quickly	forward-left	View
4	33	immediately backward and right	immediately	backward-right	View
4	34	ahead and right	(None)	forward-right	View
4	35	ahead and leftward gradually	gradually	forward-left	View
4	36	right and backward	(None)	backward-right	View
4	37	upward and to the back	(None)	backward-up	View
4	38	to the right immediately	immediately	right	View
4	39	to the right and backward softly	softly	backward-right	View
4	40	to the back and to the right greatly	greatly	backward-right	View
4	41	ahead harshly	harshly	forward	View
5	0	left	(None)	left	View
5	1	backward	(None)	backward	View
5	2	up	(None)	up	View
5	3	right	(None)	right	View
5	4	forward	(None)	forward	View
5	5	down	(None)	down	View
5	6	upward and leftward	(None)	left-up	View
5	7	upward and left slightly	slightly	left-up	View
5	8	to the front and upward	(None)	forward-up	View
5	9	gradually to the front and above	gradually	forward-up	View
5	10	ahead and right	(None)	forward-right	View
5	11	to the front greatly	greatly	forward	View
5	12	downward and right gradually	gradually	down-right	View
5	13	up and to the back	(None)	backward-up	View
5	14	slightly to the back and upward	slightly	backward-up	View
5	15	to the back and leftward	(None)	backward-left	View
5	16	smoothly left	smoothly	left	View
5	17	downward and ahead	(None)	down-forward	View
5	18	leftward and forward	(None)	forward-left	View
5	19	greatly behind	greatly	backward	View
5	20	sharply to the front	sharply	forward	View
5	21	up softly	softly	up	View
5	22	to the back and to the left	(None)	backward-left	View
5	23	ahead and right	(None)	forward-right	View
5	24	harshly ahead	harshly	forward	View
5	25	backward immediately	immediately	backward	View
5	26	downward and left gradually	gradually	down-left	View
5	27	backward greatly	greatly	backward	View
5	28	harshly up	harshly	up	View
5	29	significantly backward and below	significantly	backward-down	View
5	30	greatly down and to the front	greatly	down-forward	View
5	31	to the left lightly	lightly	left	View
5	32	ahead and downward	(None)	down-forward	View
5	33	upward and behind sharply	sharply	backward-up	View
5	34	sharply rightward	sharply	right	View
5	35	downward and forward	(None)	down-forward	View
5	36	behind quickly	quickly	backward	View
5	37	smoothly leftward and behind	smoothly	backward-left	View
5	38	forward and upward quickly	quickly	forward-up	View
5	39	softly below and left	softly	down-left	View
5	40	above and to the left	(None)	left-up	View
5	41	leftward and below lightly	lightly	down-left	View
6	0	left	(None)	left	View
6	1	right	(None)	right	View
6	2	forward	(None)	forward	View
6	3	up	(None)	up	View
6	4	backward	(None)	backward	View
6	5	down	(None)	down	View
6	6	sharply upward	sharply	up	View
6	7	to the right and behind	(None)	backward-right	View
6	8	up and backward greatly	greatly	backward-up	View
6	9	greatly below	greatly	down	View
6	10	ahead and downward	(None)	down-forward	View
6	11	downward and backward	(None)	backward-down	View
6	12	right and downward	(None)	down-right	View
6	13	to the left and down gradually	gradually	down-left	View
6	14	ahead lightly	lightly	forward	View
6	15	above and behind	(None)	backward-up	View
6	16	softly rightward and to the back	softly	backward-right	View
6	17	above quickly	quickly	up	View
6	18	behind and above	(None)	backward-up	View
6	19	to the back harshly	harshly	backward	View
6	20	rightward and up	(None)	right-up	View
6	21	quickly to the back	quickly	backward	View
6	22	to the left and above harshly	harshly	left-up	View
6	23	softly right and down	softly	down-right	View
6	24	rightward and backward slowly	slowly	backward-right	View
6	25	lightly down and left	lightly	down-left	View
6	26	slowly to the right and to the front	slowly	forward-right	View
6	27	significantly ahead and up	significantly	forward-up	View
6	28	to the left and to the back smoothly	smoothly	backward-left	View
6	29	slightly left	slightly	left	View
6	30	to the front and right	(None)	forward-right	View
6	31	ahead immediately	immediately	forward	View
6	32	downward and left quickly	quickly	down-left	View
6	33	left smoothly	smoothly	left	View
6	34	to the front and to the right	(None)	forward-right	View
6	35	leftward and up	(None)	left-up	View
6	36	slightly to the back	slightly	backward	View
6	37	greatly rightward	greatly	right	View
6	38	upward and right	(None)	right-up	View
6	39	slightly above and backward	slightly	backward-up	View
6	40	to the left and ahead	(None)	forward-left	View
6	41	above immediately	immediately	up	View
7	0	right	(None)	right	View
7	1	down	(None)	down	View
7	2	forward	(None)	forward	View
7	3	backward	(None)	backward	View
7	4	left	(None)	left	View
7	5	up	(None)	up	View
7	6	harshly to the left	harshly	left	View
7	7	backward and above	(None)	backward-up	View
7	8	to the right slightly	slightly	right	View
7	9	smoothly to the back	smoothly	backward	View
7	10	below and forward	(None)	down-forward	View
7	11	gradually below	gradually	down	View
7	12	downward slightly	slightly	down	View
7	13	backward and rightward	(None)	backward-right	View
7	14	down and right	(None)	down-right	View
7	15	ahead and down lightly	lightly	down-forward	View
7	16	sharply rightward and ahead	sharply	forward-right	View
7	17	backward quickly	quickly	backward	View
7	18	downward lightly	lightly	down	View
7	19	above and to the right gradually	gradually	right-up	View
7	20	to the back and upward	(None)	backward-up	View
7	21	above and leftward	(None)	left-up	View
7	22	up and to the left sharply	sharply	left-up	View
7	23	quickly left and forward	quickly	forward-left	View
7	24	harshly downward	harshly	down	View
7	25	ahead and downward	(None)	down-forward	View
7	26	up harshly	harshly	up	View
7	27	gradually to the left and backward	gradually	backward-left	View
7	28	lightly leftward	lightly	left	View
7	29	up and rightward smoothly	smoothly	right-up	View
7	30	immediately leftward	immediately	left	View
7	31	to the right and forward	(None)	forward-right	View
7	32	down and behind	(None)	backward-down	View
7	33	forward sharply	sharply	forward	View
7	34	forward and to the right quickly	quickly	forward-right	View
7	35	softly to the front and leftward	softly	forward-left	View
7	36	upward and left	(None)	left-up	View
7	37	gradually downward and rightward	gradually	down-right	View
7	38	left and forward	(None)	forward-left	View
7	39	smoothly forward and down	smoothly	down-forward	View
7	40	rightward and down	(None)	down-right	View
7	41	to the right and ahead slowly	slowly	forward-right	View
8	0	up	(None)	up	View
8	1	forward	(None)	forward	View
8	2	left	(None)	left	View
8	3	backward	(None)	backward	View
8	4	down	(None)	down	View
8	5	right	(None)	right	View
8	6	downward smoothly	smoothly	down	View
8	7	upward and ahead	(None)	forward-up	View
8	8	right lightly	lightly	right	View
8	9	rightward and ahead	(None)	forward-right	View
8	10	harshly down and to the left	harshly	down-left	View
8	11	backward and below	(None)	backward-down	View
8	12	right softly	softly	right	View
8	13	right and downward	(None)	down-right	View
8	14	smoothly to the left	smoothly	left	View
8	15	to the right immediately	immediately	right	View
8	16	below and to the back slowly	slowly	backward-down	View
8	17	leftward and downward	(None)	down-left	View
8	18	downward and rightward	(None)	down-right	View
8	19	greatly downward and rightward	greatly	down-right	View
8	20	leftward and behind	(None)	backward-left	View
8	21	quickly forward	quickly	forward	View
8	22	below and to the left	(None)	down-left	View
8	23	slowly below and right	slowly	down-right	View
8	24	to the right immediately	immediately	right	View
8	25	above and to the front slowly	slowly	forward-up	View
8	26	below and to the left	(None)	down-left	View
8	27	ahead slightly	slightly	forward	View
8	28	ahead and to the right	(None)	forward-right	View
8	29	left and down slightly	slightly	down-left	View
8	30	significantly to the back	significantly	backward	View
8	31	downward and ahead	(None)	down-forward	View
8	32	forward and to the right sharply	sharply	forward-right	View
8	33	quickly above	quickly	up	View
8	34	left and backward significantly	significantly	backward-left	View
8	35	right and upward	(None)	right-up	View
8	36	harshly up and rightward	harshly	right-up	View
8	37	immediately to the front and right	immediately	forward-right	View
8	38	smoothly ahead	smoothly	forward	View
8	39	sharply below	sharply	down	View
8	40	immediately to the left and up	immediately	left-up	View
8	41	upward and to the front gradually	gradually	forward-up	View
9	0	left	(None)	left	View
9	1	right	(None)	right	View
9	2	down	(None)	down	View
9	3	backward	(None)	backward	View
9	4	forward	(None)	forward	View
9	5	up	(None)	up	View
9	6	leftward and to the back	(None)	backward-left	View
9	7	greatly rightward	greatly	right	View
9	8	to the front and rightward	(None)	forward-right	View
9	9	behind and down	(None)	backward-down	View
9	10	upward quickly	quickly	up	View
9	11	upward and ahead quickly	quickly	forward-up	View
9	12	to the back and above gradually	gradually	backward-up	View
9	13	harshly below	harshly	down	View
9	14	up and backward	(None)	backward-up	View
9	15	forward and up	(None)	forward-up	View
9	16	right and up	(None)	right-up	View
9	17	behind gradually	gradually	backward	View
9	18	above gradually	gradually	up	View
9	19	leftward and up	(None)	left-up	View
9	20	harshly right	harshly	right	View
9	21	down and to the front	(None)	down-forward	View
9	22	gradually below	gradually	down	View
9	23	to the right and up	(None)	right-up	View
9	24	immediately to the right and down	immediately	down-right	View
9	25	right and forward	(None)	forward-right	View
9	26	significantly to the left and to the front	significantly	forward-left	View
9	27	slowly below and ahead	slowly	down-forward	View
9	28	down and right	(None)	down-right	View
9	29	to the left sharply	sharply	left	View
9	30	right smoothly	smoothly	right	View
9	31	slightly to the front and rightward	slightly	forward-right	View
9	32	above and rightward	(None)	right-up	View
9	33	smoothly downward	smoothly	down	View
9	34	significantly to the right and down	significantly	down-right	View
9	35	up and forward greatly	greatly	forward-up	View
9	36	right and downward slightly	slightly	down-right	View
9	37	smoothly below and forward	smoothly	down-forward	View
9	38	backward and leftward immediately	immediately	backward-left	View
9	39	up slightly	slightly	up	View
9	40	smoothly up	smoothly	up	View
9	41	leftward and to the front immediately	immediately	forward-left	View