Visual evaluation
Extracted gait cycle
Displays a single locomotor cycle extracted automatically from the continuous trajectory, based on local minima in disk speed. This isolates one full oscillatory period for clearer visualization of inter-arm phase relationships.
Locomotion speed over time
Plots the disk’s translational speed throughout the evaluation episode.
Arm values
Direction alignment quantifies how well each arm aligns with the global direction of motion during a single gait cycle (1 signifying perfect alignment and −1 pointing in the opposite direction). Propulsive contribution measures the propulsive ground-contact force each arm generates in the movement direction during a single gait cycle, expressed relative to the most propulsive arm.
Arm midpoint angles over time
Shows the time evolution of each arm's midpoint angle, defined as the deviation of the arm from its straight, radially extended configuration.
Arm propulsive impulse over time
Depicts instantaneous propulsive impulses over time, quantifying ground reaction forces of each arm projected onto the movement direction.
Arm propulsive impulse synchronisation matrix
Quantifies how synchronously pairs of arms generate propulsion. Each entry reflects the normalized correlation of propulsive impulse profiles between two arms (values near 1 indicate strong co-activation, 0 indicates independence).
2D-embedding of ganglion states during simulation
Shows a dimensionality-reduced projection (UMATO) of ganglion states during the actual simulated behavior. Clustering and trajectories in this space reflect the underlying recurrent neural dynamics driving coordination.
2D-embedding of ganglion states during constant input
Displays a dimensionality-reduced projection (UMATO) of ganglion-state trajectories when sensory input is held constant, isolating the network’s intrinsic oscillatory dynamics.