Algorithm 1 Incrementally Evolved Trajectories (IET)

procedure IET(X)

$individuals\leftarrow$initialize

for $j<n$ do

while $\mathbf{not}termination\_conditions$ do

for each $individual$ do

mental_execution($U_{[0,j-1]}$)

$U_j\leftarrow$evolve($DoF$)

$O_j\leftarrow$mental_execution($U_j$)

$D\leftarrow$mental_recognition($O_j,X_j$)

end for

end while

end for

motor_execution(U)

end procedure