ResearchBenchmarksTrajectory Tracking on 2-DOF Robotic Arm Quintic trajectoryTrajectory Tracking on 2-DOF Robotic Arm Quintic trajectoryFollow0.007RMSEL-Learning0.00160.038050.07450.11095May 26, 2026Evaluation resultsMethodMethodLinksRMSEITAEL-LearningSamples=10000, Time=1m...Samples=10000, Time=1min 10s2026.050.0070.259PID2026.050.0181.013SACSamples=30000, Time=7m...Samples=30000, Time=7min 9s2026.050.0231.202TD3Samples=30000, Time=4m...Samples=30000, Time=4min 3s2026.050.0351.575TD3Samples=10000, Time=1m...Samples=10000, Time=1min 17s2026.050.1145.557SACSamples=10000, Time=2m...Samples=10000, Time=2min 54s2026.050.1427.492