The two ideal force fields to be approximated by the ndBMI.

The force fields map each point belonging to the position space into a force. In this study we used two different force fields representing the desired control policies: a Gaussian force field (A) and a Dipole force field (B). Both the force fields converge towards an equilibrium point that represents the goal in a reaching task. The figure shows the force fields represented by arrows of different lengths superimposed by the corresponding colored-code potential fields.