Table 2.

Success rate during ramp scenario.

	ANN algorithm Success rate (%)			Algorithm by Li and Hsiao-Wecksler [16] Success rate (%)
	Level mode	Ascent mode	Descent mode	Level mode	Ascent mode	Descent mode
Sub01	95.0	100.0	100.0	90.0	100.0	94.7
Sub02	100.0	100.0	100.0	94.4	94.1	93.8
Sub03	100.0	90.0	100.0	94.4	90.0	95.0
Sub04	100.0	100.0	100.0	93.3	100.0	94.1
Sub05	100.0	100.0	100.0	87.5	100.0	93.8
Overall	98.9	97.8	100.0	92.0	96.7	94.3