Fig. 5.

Statistics for different reward types. a, b Two distance dependent reward types (right) compared to touch-only reward (left). Annotations at the bottom refer to the annotations introduced in Fig. 3. c, d Comparison of different slopes for distance dependent rewards. For c, d slope values from left to right are: 1/3 (no touch reward case), 1/3, 1/4, 1/5, 1/10, 1/20, 1/50, reaching values at the goal boundary correspondingly: 0.86, 0.65, 0.52, 0.26, 0.13, 0.05. Touch reward is 1