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Coupling forward and inverse models supports offline sensorimotor consolidation. (A) Significant performance improvement (in terms of both directional and distance errors) after offline consolidation (*P < 0.01, **P < 0.001). (B) Performance improvement as a function of the duration (number of replayed trials) of the offline consolidation period. Human experimental results from Huber et al. (2004) are shown in yellow.
