Trajectory Tracking on ASV Simulation 5 Platforms (ideal conditions no delay no disturbances)
0.33Positional Error (cm)MPC
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MPCvalidation=Validated on the designated platform only2026.07 | 0.33 | 0.07 | |
| PPO (specific)validation=Validated on the designated platform only2026.07 | 0.65 | 0.97 | |
| Studentadaptation=Enabled (adaptive latent)2026.07 | 0.84 | 1.81 | |
| Teachermode=Teacher framework2026.07 | 0.85 | 1.79 | |
| Recurrentpolicy=Recurrent baseline2026.07 | 0.96 | 2.34 | |
| PPO (general)policy=General non-adaptive baseline2026.07 | 1.49 | 3.98 | |
| Student avg. zadaptation=Disabled (latent fixed to training-set mean)2026.07 | 2.18 | 4.06 |