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(a) Desired position
891501.fig.0010b
(b) Original, 1 rep.
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(c) Original, 5 rep.
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(d) New,
Figure 10: The figure illustrates the quality of the teacher forcing in experiments 1, 2, and 5. For each of these experiments the position sequences in epoch 5 are plotted as the 8 coordinate values at each time step for one repetition of the YMCA movement.