Fig. 11

Snapshots with/without the sensing failures: the yellow horizontal dashed lines represents the target where \(y=0\); the robot was controlled by the decomposed FB (red) or FF (blue) policy; without the sensing failures, both the policies generated almost the same forward locomotion, which indicates the proper skill transfer; with the sensing failures to detect the AR marker, indicated as the shaded area, the FB policy drifted the robot to the side due to the wrong signal; in contrast, the FF policy could achieve the forward locomotion by ignoring the wrong signal in principle