Table 1.

Default parameters used for modeling experiments in a standard setup

Parameter type	Parameter name	Value
SARSA-learning (see Appendix)	Learning rate α	0.7
	Discount factor γ	0.7
Environment/steps	Size	150 cm × 150 cm
	Step size	6 cm
	Noise on the step size	± 1.5 cm
	Reward size	15 cm × 15 cm
Place fieldsa	Number	500
	Width, through σ	4.24 cm
	Scaling factor A	2.5
Learning strategies	Exploration probability p e in E	0.2
	Probabilities for S
	p 1	0.5
	p 2	0.156
	p 3	0.063
	p 4	0.031
	p 5	0
	p 6	0.031
	p 7	0.063
	p 8	0.156
	Weighting factor w in S	0.5
	Weight decay factor c f in F	0.9995
	Zero weight threshold t f in F	10 − 6
	Starting path length limitation in L	200
	Path increase step in L, c l	5
	Path limit in steps for any strategy	300

^aNote, additional justification for these default parameters is given in section ‘Place field size and density’