ResearchBenchmarksAUV Target Tracking on Medium Scenario (Nominal Setting)AUV Target Tracking on Medium Scenario (Nominal Setting)Follow0.012Tracking Error (km)STG-MAPPO-0.03440.27880.5920.9052May 15, 2026Evaluation resultsMethodMethodLinksTracking Error (km)Target Loss RateAverage ReturnSTG-MAPPO2026.050.01201,018.84MADDPG2026.050.1754.8756.38MAPPO2026.050.1855.3720.53HAPPO2026.050.4211.9267.96MATD32026.050.59444200.58MADQN2026.050.6859.379.8MASAC2026.051.17293.8-256.1