Figure 6. Route following improves with experience.

Performance improves as more training runs are performed. Performance is shown following one, two, four and eight training runs. In each figure the training runs used for learning are shown in red while the attempts to recapitulate the route are shown in black. As previously, noise is added to paths during route recapitulation. Of the 4 attempts (black lines) shown in each panel 2, 4, 3 and 4 were successful after one, two, four and eight runs respectively.