Success-efficient/failure-safe strategy for hierarchical reinforcement motor learning
Fig 4
Progression of Smoothness and Co-Contraction during adaptation to perturbation.
(A, B) The progression of Smoothness and Co-contraction during adaptation to perturbation, with red representing failed trials, green representing successful trials, and black representing all trials. (C, D) Total changes of Smoothness and Co-Contraction where change between two consecutive successful trials (S-S) is shown in pink and change between two consecutive successful trials separated by at least one failed trial (S-F-S) is shown in blue. (E) Representative jerk of centre of mass trajectory and EMG trajectories for successful trials before a failed trial (light green) and after a failed trial (dark green). Error bars show standard error of the mean.