Trajectory Tracking on 100 simulated trajectories closed-loop (test)
0.213RMSETrue Traj.
Evaluation results
| Method | Links | ||
|---|---|---|---|
| True Traj.Controller=GMPC2026.06 | 0.213 | 0.211 | |
| ProposedController=GMPC2026.06 | 0.799 | 0.649 | |
| IEKFController=GMPC2026.06 | 1.035 | 0.706 | |
| Bidirectional-GRUController=MPC2026.06 | 1.502 | 1.347 | |
| TransformerController=MPC2026.06 | 1.536 | 1.388 |