Decoding results with three decoders in one representative trial. (a) Normalized horizontal and vertical trajectories in one trial. The x-axis represents the samples (each sample has time windows of 100 ms) and normalized kinematics. The red line represents the real trajectory. The lines with light blue, blue, and dark blue mean estimation with no prior, target direction only, and target and intended movement selection, respectively. The shadows around the lines represent 95% credible intervals. (b) The reconstructed 2D reaching trajectories. The inset at the top represents the representative trajectory in the workspace. The small blue and big yellow ball represent the start position and target position, respectively. The dashed yellow circles represent the target candidates. The green bar represents the obstacle. The x-axis and y-axis represent normalized horizontal and vertical positions, respectively.