Table 3. Pointing errors for robot experiments (conditions equivalent to simulation 1).

		Training	Iep	Iep	Iep	Average Iep
		SI	SI	SII	SIII
M0	D	1.22±0.47	1.75+0.55	1.86±0.60	4.34±1.03	3.35±1.27
M0	S	0.83±0.79	0.95+0.59	2.60±1.34	2.87±1.78	1.75±1.45
M1	D	1.36±0.78	1.91±0.89	1.26±0.44	3.91±1.45	2.21±1.36
M1	S	1.04±1.21	1.34±1.11	1.25±0.43	2.55±1.92	1.59±1.35
M2	D	1.95±0.61	2.37±1.09	2.25±1.15	3.70±1.43	2.64±1.32
M2	S	1.37±0.89	1.47±0.95	3.61±2.27	3.93±1.84	2.49±1.93
Average M0–2	D	1.51±0.71	2.01±0.91	1.79±0.89	3.99±1.34
Average M0–2	S	1.08±1.01	1.25±0.93	2.49±1.82	3.12±1.94

Average RMSE_D (D) and RMSE_S (S) for each mass condition for the session I (SI), II (SII) and III (SIII). Training: Training set. Iep (inter- and extrapolated positions): test set. Average Iep: RMSE values for the test set averaged across SI, SII and SIII. Average M0–2: RMSE_D and RMSE_S values for both the training and test set averaged across the different mass conditions (M0, M1, M2) for each session (SI, SII, SIII).