Path-following

Benchmarks

Dataset Name	SOTA Method	Metric
Random 1 cm, 1° 1.0 (test)	RL-ITG	Success Rate99.3	8	5mo ago
Square & S 1 cm, 1° 1.0 (test)	RL-ITG	Success Rate100	8	5mo ago
Zigzag 1 cm, 1° 1.0 (test)	RL-ITG	Success Rate98	8	5mo ago
Rotation (0.1 cm, 0.1°) 1.0 (test)	Greedy	Success Rate100	8	5mo ago
Hello 0.1 cm, 0.1° 1.0 (test)	RL-ITG	Success Rate100	8	5mo ago
Underwater Simulation Sinusoidal Path, Δ=1.75L	Adaptive LOS with Amplitude Control	RMSE8.93	4	2mo ago
10,000 Evaluation Tasks Difficult n=2563		Path Length Mean (m)0.32	3	1mo ago
10,000 Evaluation Tasks Medium n=4795	Hybrid	Mean Path Length (m)0.57	3	1mo ago
10,000 Evaluation Tasks Easy n=2642		Path Length Mean (m)0.53	3	1mo ago
Evaluation Tasks n=10000 (All)		Mean Path Length (m)0.45	3	1mo ago
Path 4	CR-MPC	Path Following Error (Mean) [m]1.964	3	5mo ago
Path 3	MPCC	Path Following Error (Mean) [m]2.553	3	5mo ago
Path 2	CR-MPC	Path Following Error (Mean)6.372	3	5mo ago
Path 1	MPCC	Path Following Error (Mean) [m]1.077	3	5mo ago
Straight line path	DSAM whole-body controller	Pos RMSE (m)0.196	1	5mo ago
Figure-8 path	DSAM whole-body controller	Position RMSE (m)0.8167	1	5mo ago

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