Table 2.

The hyperparameters of the MRL framework and their respective values selected for the current study

Hyperparameter	Symbol	Value
Floating point precision	$b$	$32$ bits
Number of sEMG channels	$I$	$8$
Number of decodable DoFs	$J$	$2$
Envelope extraction filter length	$W$	$0.5$ s
Size of first encoder layer	$2^K$	$128$
Encoder network depth	$N$	$5$
Code size	$2^{K-N+1}$	$8$
Decoders hidden layer size	$2^S$	$32$
Contractive loss weigh	${\alpha }_c$	${10}^{-2}$
Adam hyperparameters	$\mathrm{\eta }$	${10}^{-4}$
	${\beta }_1$	$0.9$
	${\beta }_2$	$0.999$
Corruptive noise variance	${\sigma }^2$	${10}^{-1}$
Weight decay	$\lambda$	${10}^{-6}$
Minibatch size	$B$	$2^{12}$
Validation set percentage	$P$	$10\%$
Validation lookback	$V$	$300$
Maximum number of iterations	$M$	$5000$