Figure 3. Model implementation on locomotive exploration of a novel circular arena (Fonio et al., 2009). *a*, Convergence dynamics of actors of the four loops (*p*^{l = 1,2,3,4}), where *p*_{corner} denotes the probability to stay in corners, *p*_{wall} denotes the probability to follow walls, and *p*_{open} denotes the probability to avoid walls and seek open space (σ = 0.125, *P*_{0} = 0.1, averaged over 9 runs). *b*, Perceiver dynamics when exploring with the converged primitives and novelty management. Mean perceiver error as a function of time for the converged and random actors (same parameters as in *a*). Insets, Perceiver state at different times, where black denotes the probability of walls, green denotes the probability of no wall, and thickness denotes the distance from probability = 0.5. *c*, Exploration behavior of a novel circular arena for the converged exploration primitives and novelty management, where color denotes the active primitive (black, retreat; blue, loop 1; red, loop 2; magenta, loop 3; cyan, loop 4) and time progresses from top to bottom. Left, Zoom in on the first steps, where the light blue line denotes orientation of the mouse. Middle, Initial exploration in which only loops 1 and 2 are active. Right, Exploration of open space with loops 3 and 4 until reaching the center of the arena. *d*, Phase plane of model parameters, where regions were automatically discovered via clustering of the actor probabilities. Distances from cluster centroids are plotted as a function of the two free parameters of the model: σ and *P*_{0}, where red/green/blue channels denote distance from centroids of clusters 1, 2, and 3. Capital letters (A–K) denote the entire set of mice (*n* = 11) described in Fonio et al. (2009), positioned in the phase plane such that their behavior best correlated with the behavior generated by the model, given the corresponding parameters. *e*, Transition trajectories of the experimental mice and matching model agents. Durations of exploration in each behavioral phase, normalized by their mean time, are depicted by their occurrence sequence. Dashed curves represent the behavior of individual mice (Fonio et al., 2009), and solid curves represent the behavior of model agents whose parameters are marked in *d*.