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0c3dd1d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 | % Table II: lateral error (m); columns Path 1, Path 2, Path 3
Policy & Path 1 & Path 2 & Path 3 \\
MPC-Sim & $0.095$ & $0.104$ & $0.032$ \\
MPC-Real & $0.105\pm0.029$ & $0.103\pm0.019$ & $0.089\pm0.017$ \\
NN-MPC-Sim & $0.067$ & $0.057$ & $0.036$ \\
NN-MPC-Real & $0.226\pm0.011$ & $0.274\pm0.016$ & $0.164\pm0.045$ \\
PID-Sim & $0.078$ & $0.071$ & $0.056$ \\
PID-Real & $0.267\pm0.016$ & $0.317\pm0.028$ & $0.139\pm0.006$ \\
NN-HD-Sim & $0.140$ & $0.173$ & $0.082$ \\
NN-HD-Real & $0.511\pm0.064$ & $0.663\pm0.090$ & $0.405\pm0.054$ \\
% Table III: heading error (rad); columns Path 1, Path 2, Path 3
Policy & Path 1 & Path 2 & Path 3 \\
MPC-Sim & $0.067$ & $0.064$ & $0.034$ \\
MPC-Real & $0.085\pm0.024$ & $0.066\pm0.011$ & $0.086\pm0.005$ \\
NN-MPC-Sim & $0.058$ & $0.051$ & $0.032$ \\
NN-MPC-Real & $0.166\pm0.008$ & $0.128\pm0.007$ & $0.126\pm0.035$ \\
PID-Sim & $0.061$ & $0.056$ & $0.030$ \\
PID-Real & $0.203\pm0.005$ & $0.145\pm0.014$ & $0.094\pm0.003$ \\
NN-HD-Sim & $0.084$ & $0.075$ & $0.033$ \\
NN-HD-Real & $0.181\pm0.017$ & $0.178\pm0.022$ & $0.135\pm0.010$ \\
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