11Learning to perform feedback control is critical for learning many real-world tasks that involve continuous 12 control such as juggling or bike riding. However, most motor learning studies to date have investigated 13 how humans learn feedforward but not feedback control, making it unclear whether people can learn new 14 continuous feedback control policies. Using a manual tracking task, we explicitly examined whether people 15 could learn to counter either a 90 • visuomotor rotation or mirror-reversal using feedback control. We 16 analyzed participants' performance using a frequency domain system identification approach which revealed 17 two distinct components of learning: 1) adaptation of baseline control, which was present only under the 18 rotation, and 2) de novo learning of a continuous feedback control policy, which was present under both 19 rotation and mirror reversal. Our results demonstrate for the first time that people are capable of acquiring 20 a new, continuous feedback controller via de novo learning. 21 Introduction 22 Many real-world motor tasks require continuous feedback control in order to perform skillfully. For example, 23 when one is riding a bicycle, one must assess the environment and the state of the body to inform future 24 motor commands that will minimize the chance one will topple off the bicycle. But when one learns how 25 to ride a bicycle, does one learn a new feedback control policy to do so? Most studies investigate motor 26 learning within the context of discrete, point-to-point movements which can be executed by predominantly 27 using feedforward control. Therefore, while it may seem intuitive that one should be able to learn a new 28 feedback controller, little is known about whether this is actually the case. 29 Humans can learn to perform new motor tasks through a variety of learning processes [1]. One of the most 30 well-characterized mechanisms is adaptation, an error-driven learning process by which task performance is 31 improved by experiencing and subsequently reducing sensory prediction errors [2][3][4]. Adaptation is known 32 to support learning in a variety of laboratory settings including under imposed visuomotor rotations [5][6][7], 33 prism goggles [8,9], split-belt treadmills [10,11], and force fields [12,13]. However, adaptation is known to be 34 limited in the extent to which it can change behavior [6,[14][15][16], suggesting that it cannot account for learning 35 more complex motor skills. It has therefore been suggested that more complex skills must be learned by 36 building a new control policy from scratch, a process termed de novo learning ( Figure 1A) [17][18][19]. However, 37 the exact mechanisms and properties of de novo learning remain unclear. 38 A simple visuomotor perturbation that is thought to require de novo learning is a mirror reversal of 39 visual feedback. After having learned to compensate for mirror-reversed feedback, participants do not exhibit 40 2 Adaptation D e n o v o le a r n in g CP 1 u = f(x t ,t,θ) CP...