Illustration of the task. Left: picture of the setup. Right: illustration of the task across different conditions. In the no adjustment condition, after the start, participants walked through the path without obstacles. In the preset adjustment condition, the obstacle was visible from the beginning of the walking path in each trial. In the online adjustment condition, the obstacles appeared randomly only after the participants passed through the laser beam. During each trial, the onset of walking (start), the passage through the motion sensors (‘approach’), the obstacle avoidance (‘crossing’) and the cessation of walking (‘stop’) were recorded, providing the temporal markers for the EEG data for the planning phase (before the obstacle was encountered, from the ‘approach’ to ‘crossing’) and a resetting phase (after the obstacle was encountered, from ‘crossing’ to the ‘stop’). Additional information regarding the setup can be found in Supplementary Section S1.1.