Table A3.

Policy search parameter settings for the rhythmic walking task.

Parameter	Range	Initial value
a, (w)	∈ [−2, 2]	a0 = 0
μ, (μ)	∈ [0.8 μ0, 1.2 μ0]	μ0 spaced linearly in [0, 2π]
h, (h)	∈ [0.1, 10]	h0 = 1
β	∈ [0, 2]	β0 = 1
Δs	∈ [0, 0.5]	Δs0 = 0

In brackets are the variable names for the dynamic movement primitives.