Results of the action completion task. The log-likelihood was computed using the action completion model. For the same-pendulum condition, the ground truth is $G=0$⁠. The vertical dashed line is the boundary of the feasible angle $θmin=π/8$⁠. For the different-pendulum conditions, candidate movements were generated using an imitator's pendulum of either $(m,l)=(4,1)$ or (1, 2).