The number of 's input units was doubled: For each original input unit there was another input unit whose constant activation defined the desired activation at the end of a fovea trajectory (the goal). (This goal-defining feature is also relevant for `higher-level' sub-goal generating processes to be addressed later.) remained unchanged, the same parameters as above were used for the training phase.
The controller was able to learn to look for parts of a scene which matched the time invariant input. See figure 5 for an illustration of trajectories leading to different targets in the same scene.