Trajectory tracking on 2-DOF Manipulator 5s memory horizon (tau_z)
-32.19Mean Tracking Deviation (%)INCRT-1L
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| INCRT-1Ln=10, W=20, Params=282k2026.05 | -32.19 | — | — | — | |
| Transformer-tunedn=5, W=50, Params=271k2026.05 | -30.29 | -0.07 | 25.7 | 88 | |
| Transformern=10, W=20, Params=265k2026.05 | -29.3 | -0.11 | 21.4 | 81.3 |