Table A2.

Reward design and parameters.

Reward Term	Coefficient
$R_{track}$	${\alpha }_1$ = 0.3, ${\beta }_1$ = 40
$R_{pose}$	${\alpha }_2$ = 0.3, ${\beta }_2$ = 500
$R_{height}$	${\alpha }_3$ = 0.3, ${\beta }_3$ = 400
$R_{gait}$	${\alpha }_4$ = 0.1, ${\beta }_4$ = 10
$R_{slip}$	${\alpha }_5$ = 0.3, ${\beta }_5$ = 100

For R_fall, K = −600