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Arrays need to be passed using rosparam instead of the normal param which is only able to accept scalar values or strings. The normal param has no way to tell the difference between a string and an array so it is always interpreted as a string. Since rosparam expects YAML syntax it is able to handle arrays. It can also handle dictionaries and others things specifiable in YAML syntax.

In your case it would look like this:

<rosparam param="x0">[0.0, 0.0]</rosparam>

Thanks to @gvdhoorn for answering this in a comment. I tried to expand on it and explain why rosparam was needed.