ResearchBenchmarksTrajectory Tracking on ArduPilot SITL Spiral trajectoryTrajectory Tracking on ArduPilot SITL Spiral trajectoryFollow0.481RMSE (XY)ADAIML0.440640.713070.98551.25793Mar 9, 2026Evaluation resultsMethodMethodLinksRMSE (XY)MAE (XY)P95 Error (XY)Max Error (XY)ADAIMLControl=ADAIMLControl=ADAIML2026.030.4810.2870.9722.193ASINDyControl=ASINDyControl=ASINDy2026.030.6590.3731.6222.774PIDControl=PIDControl=PID2026.031.490.734.0996.335