Trajectory tracking on Gazebo Simulation Low feedback noise 80 dB
0.0075Hypotrochoid Tracking Error (m)Deep Robust Koopman Network (DRKN)
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Deep Robust Koopman Network (DRKN)Training Dataset SNR=30 dB2026.01 | 0.0075 | 1.05 | 0.0031 | 0.0063 | 0.65 | 0.003 | 0.0064 | 0.7 | 0.003 | |
| NLKTraining Dataset SNR=30 dB2026.01 | 0.0231 | 0.94 | 0.0031 | 0.0188 | 0.6 | 0.0034 | 0.0254 | 0.66 | 0.0029 | |
| Recurrent RolloutTraining Dataset SNR=30 dB2026.01 | 0.074 | 22.12 | 0.0046 | 0.0963 | 19.01 | 0.0045 | 0.0962 | 11.57 | 0.0038 |