[walking]

This is all speculation, on my part (certainly not an expert in this area)

In the article they say that "Contextual variability can strengthen retention [15] and generalization of skills", but that they "chose to increase sensorimotor variability while maintaining constant the original learning context."

They also mention that "attributing errors to internal sources can strengthen learning [19, 20] and generalization [21] of motor behavior"

My guess for an autodidact would be how powerful internal attribution is compared to the change in context and exploration of the sensorimotor space. Of course, they're probably not discrete, and probably also impact one another.

Sounds like some really interesting possible implications, and possibilities for further research. Really makes me want to reread the article and go through some of the articles they cite