ResearchBenchmarksMulti-Agent Target Tracking on 4-AUV Hard Scenario (test)Multi-Agent Target Tracking on 4-AUV Hard Scenario (test)Follow0.013Nominal Tracking Distance (km)STG-MAPPO-0.034480.286010.60650.92699May 15, 2026Evaluation resultsMethodMethodLinksNominal Tracking Distance (km)Combined Tracking Distance (km)Nominal Target Lost RateCombined Target Lost RateAverage ReturnSTG-MAPPO2026.050.0130.01300981.71MAPPO2026.050.0640.09500.2899.77MADDPG2026.050.3460.28218.713.8613.34HAPPO2026.050.5180.67436.157.6218.68MATD32026.050.5540.58433.230.8275.03MADQN2026.050.7350.81251.449.936.53MASAC2026.051.21.25483.988.1-274.77