Table 2.

Root mean square error (RMSE) values for car position and steering wheel signal regression on the testing set.

	Observation						Execution
	Car x position (px)			Steering signal (a.u.)			Car x position (px)			Steering signal (a.u.)
	Mean (SD)	Median	Range	Mean (SD)	Median	Range	Mean (SD)	Median	Range	Mean (SD)	Median	Range
Passive	203 (40)	205	[113, 384]	0.26 (0.17)	0.21	[0.05, 0.70]	157 (42)	154	[81, 238]	0.19 (0.11)	0.15	[0.05, 0.41]
Proactive	12 (10)	8	[4, 43]	0.02 (0.01)	0.01	[0.01, 0.04]	10 (6)	8	[4, 27]	0.02 (0.01)	0.01	[0.01, 0.04]
Reactive (Dist.)	367 (75)	364	[243, 520]	0.49 (0.16)	0.45	[0.27, 0.80]	357 (81)	359	[214, 544]	0.47 (0.14)	0.44	[0.27, 0.76]
Reactive (Indist.)	326 (74)	302	[232, 457]	0.45 (0.20)	0.45	[0.13, 0.79]	316 (73)	305	[217, 462]	0.41 (0.18)	0.39	[0.13, 0.77]

** Significant differences between observation and execution, significance level 0.01.

°° / °°° Significant differences between car x position and steering (execution only), significance level 0.01 and 0.001.