Fig 6. Evolution of the spiking activity of the associative layer units while planning, across the experiment trials.

To best interpret the figure, recall that: 15 planning cycles formed one planning sequence (forward sampling), a variable number of planning sequences was generated in one trial for a given colour, 3 trials for the different colours formed a triplet, 20 triplets formed the whole test. The figure shows data collected while the model planned during the trials of the experiment related to each colour, from trial one (T1) to trial 20 (T20). Each column of graphs corresponds to a different colour stimulus, respectively S1, S2, and S3. For each of the nine graphs, the x-axis indicates the indexes of the 400 neurons of the associative layer, and the y-axis indicates the 15 planning cycles of the planning sequences produced in each trial (in each graph the planning cycles progress from bottom to top). Each graph in particular reports the spikes of each neuron for multiple trials (T1-T3 for the bottom row of graphs, T4-T15 for the middle row, and T16-T20 for the third row) and for the multiple planning cycles of those trials: the colour of each little line indicates the proportion of spikes of the corresponding neuron during those trials and cycles.