Left: screenshot of maze simulation. The agent visits N-S-E-W arms in turn. Right: ground truth and estimates of y component of location. The agent is lost during the E arm; only with Sub enabled does it recover for the W arm.
Fox and Prescott BMC Neuroscience 2009 10(Suppl 1):P275 doi:10.1186/1471-2202-10-S1-P275