Figure 4.

Optimization results in learned targets; (a–c) correspond to the results in the horizontal targets, whereas (d–f) correspond to results in the sagittal targets. (a) Horizontal targets. (b) Error map in ${\mathit{q}}_{\mathrm{target}}$ (cm). (c) Trajectories when L_h = 5 and L_s = 0. (d) Sagittal targets. (e) Error map in ${\mathit{q}}_{\mathrm{target}}$ (cm). (f) Trajectories when L_h = 0 and L_s = 5.