Table 1. Glossary of key variables in the paper.

Observed or controlled by experimenter
t	time step during rotation
θ t	true heading angle at time t
α	true target angle
δ	true velocity
f	feedback angle
t f	time of feedback
σ f	standard deviation of true feedback
ρ	generative probability that the feedback is true on any trial (= 70%)
ς	confidence reported by subject
Observed, used, or computed by participant
Estimates of heading
m t	estimated heading from Path Integration
s t	uncertainty in Path Integration estimate of heading
s 0	subject’s initial uncertainty in heading angle
${\widehat{m}}_t$	estimated heading from Kalman Filter
${\widehat{s}}_t$	uncertainty in Kalman Filter estimate of heading
${\tilde{m}}_t^{comb}$	estimated heading angle from Cue Combination model
${\tilde{m}}_t^{hy}$	estimated heading angle from Hybrid model
Estimates of task/subject parameters
s A	subject’s estimate of variability of the memory noise (i.e. their estimate of σA)
r	subject’s estimate of the prior probability that the feedback is true
s f	subject’s estimate of variability of true feedback (i.e. subject’s estimate of σf)
p true	subject’s estimate that feedback on current trial is true ($=p\left(\text{true}\right|f,{\delta }_{1:t_f})$)
Parameters related to target angle
A	subject’s remembered target angle
β A	subject’s bias in remembered target angle
γ A	subject’s gain in remembered target angle
n A	subject’s noise in remembered target angle
σ A	standard deviation of noise in subject’s remembered target angle
Parameters related to velocity
d	subject’s estimate of velocity
γ d	gain in subject’s estimate of velocity
ν	noise in subject’s estimate of velocity
σ d	standard deviation of noise in subject’s estimate of velocity
s d	subject’s estimate of their own velocity noise