After extended practice, motor adaptation reaches a limit in which learning appears to stop, despite the fact that residual errors persist. What prevents the brain from eliminating the residual errors? Here we found that the adaptation limit was causally dependent on the second order statistics of the perturbation; when variance was high, learning was impaired and large residual errors persisted. However, when learning relied solely on explicit strategy, both the adaptation limit and its dependence on perturbation variability disappeared. In contrast, when learning depended entirely, or in part on implicit learning, residual errors developed. Residual errors in implicit performance were caused by variance-dependent modifications to error sensitivity, not forgetting. These observations are consisted with a model of learning in which the implicit system becomes more sensitive to error when errors are consistent, but forgets this memory of errors over time. Thus, residual errors in motor adaptation are a signature of the implicit learning system, caused by an error sensitivity that depends on the history of past errors. Introduction During motor adaptation, perturbations alter the sensory consequences of motor commands, yielding sensory prediction errors. In humans and other animals, the brain learns from these errors and adjusts its motor commands on subsequent attempts. Over many trials, the adjustments accumulate, but surprisingly, adaptation often remains incomplete; even after extended periods of practice, residual errors persist in many behaviors including reaching 1-4 , saccades 5,6 , and walking 7 . Why does learning appear to stop despite the fact that errors remain?Current models suggest that adaptation is supported by distinct learning systems: one implicit 8 , and the other explicit [9][10][11] . It is thought that the implicit system contributes little to modulation of asymptotic performance; when challenged with fixed errors, the implicit system appears to saturate at identical levels 12,13 . In contrast, explicit strategy provides greater flexibility; its asymptotic behavior is altered as people age [14][15][16] , under different types of feedback 17 , and with the time allotted for the preparation of a movement 18 . Therefore, current evidence suggests that the explicit system alone modifies the asymptotic state of learning.Here we tested this view using stochastic perturbations that affected reaching movements. We found that when perturbation variability was high, residual errors increased [19][20][21] . Furthermore, when perturbation variability was increased mid-experiment, the asymptotic performance decreased, causing participants to lose what they had already learned. Thus, the asymptote of adaptation was not a hard limit, but a dynamic variable that depended on the second order statistics of the perturbation. Which adaptive system was responsible for limiting the adaptation process?To answer this question we isolated implicit and explicit components of adaptation using several methodologies inc...