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Achieved costs for the walker task, where the standard deviation is denoted by the symbol ±.
In the second column the symbol Δ denotes if additionally 16 M time-shift variables Δs are learned. The total number of parameters is denoted by the symbol #, where e.g., for the representation in the 1st row 4 M = 8 task related weights and 3 · M · N · 4 = 48 shared parameters were optimized. The best results with the lowest costs denoted by Cmean are highlighted in gray shading.
