Six different cost functionals, all optimized to control saccades by tuning the weights, λα for the contributing terms.

Each total cost includes the accuracy cost, but differs in the contribution from other kinematic terms. AD: accuracy and duration; AE: accuracy and energy; AED: accuracy, energy and duration; AEDL1: AED with Listing’s law at saccade offset only; AEDL2: AED with Listing’s law for the entire trajectory. The weights are the (two to four) free parameters for the optimal control.