Figure 3.

GEM (gray line) and ±10% error contours (black lines) for the ball throwing task (Fig. 2A) transformed to the action space, corresponding to values of (τ, β) that result in target-hitting trials. The GEM was transformed by substituting Eq. (12) into Eq. (2). The circle indicates the “best” strategy on the GEM, which has the lowest sensitivity to body-level fluctuations. Its transformed location in the execution space is identified by the same symbol in Fig. 2B.