Catching heuristics are optimal control policies

Boris Belousov, Gerhard Neumann, Constantin A. Rothkopf, Jan R. Peters

Neural Information Processing Systems 

Such internal models allow for planning and potentially optimal action generation, e.g., they enable optimal catching strategies where humans predict the interception point and move there as fast as mechanically possible to await the ball. Clearly, there exist situations where latencies of the catching task require such strategies (e.g., when

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