The tuning of various parameters for simulations shown in the figures.

The first three parameters listed (βxx, βQ, βxy) were configured for AUKF, each functioning as multiplicative gains for prior covariance of task state sigma points (Pxx), process noise (Q), and cross covariance of the task state and the auditory feedback sigma points (Pxy) in the cases that AUKF is activated. Note that the gains were 1 for the simulations presented in Figs 3 and 6 because AUKF was not enabled. The other two parameters changed in some simulations were auditory noise size (ηaud) as well as auditory prediction error threshold (γ).