Fig. 6

Decomposition of mixture ratio: 30 trials were divided into 5 failure and 25 successful cases; around 80th episode on the five failure cases, d and \(H_{\mathrm{FF}}\) were suddenly jumped to higher values; this suggests the wrong updates of the FF policy (or its base RNNs); according to this erroneous behavior, \(H_{\mathrm{FB}}\) was pulled into the wrong direction by the FF policy, thereby resulting in the failures of the balancing task