Categorical estimation task: Steady-state performance. (A) Mean squared error of the Exact Bayes algorithm (i.e., optimal solution) for each combination of environmental parameters $s$ and $pc$ averaged over time. (B–F) Difference between the mean squared error of each algorithm and the optimal solution (of panel A), that is, the average of $ΔMSE[Θ^t]$ over time. The color bar of panel A applies to these panels as well. Abbreviations: See the Figure 5 caption.