How to pass parameters for Lightning component called via quick a action

I resolved the issue with adding an attribute to the component and, set the account Id to the new attribute as follows and referred it back in the doInitit() helper method.

New Attribute in component

<aura:attribute name="accountId" type="String" />

Changes to the script inside the .VFP (setting the value to the accountId component attribute )

var accountId = "{!$CurrentPage.parameters.id}";

$Lightning.use("c:AccountListWrapper1", function() {
$Lightning.createComponent("c:AccountsList",
          { "accountId" : accountId },
            "lightning",
             function(cmp) {
                // do some stuff
           });
 });

Accessed via doInit() method as follows

var accountId = cmp.get("v.accountId");