ResearchBenchmarksTrajectory Tracking on ArduPilot SITL Circle trajectoryTrajectory Tracking on ArduPilot SITL Circle trajectoryFollow0.251RMSE (xy)ADAIML0.240920.308960.3770.44504Mar 9, 2026Evaluation resultsMethodMethodLinksRMSE (xy)MAE (xy)P95 Error (xy)Max Error (xy)ADAIMLControl=ADAIMLControl=ADAIML2026.030.2510.1950.5140.851ASINDyControl=ASINDyControl=ASINDy2026.030.3070.2340.6351.17PIDControl=PIDControl=PID2026.030.5030.3431.2131.658