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. 2021 Jan 25;7:566037. doi: 10.3389/frobt.2020.566037

TABLE 6.

Test results from sampling N=100 random training scenarios.

Trade-off Metric Intermediate Proficient Advanced Expert Avg.
Success rate [%] 68 66 62 52 62
λr=0.9 Collision rate [%] 16 28 34 38 29
Avg. tracking error 1.67 2.91 3.14 3.09 2.70
Success rate [%] 100 100 86 59 86
λr=0.5 Collision rate [%] 0.00 0.00 8.00 36.0 11
Avg. tracking error [m] 1.97 3.76 4.44 4.33 3.63
Success rate [%] 65 68 45 54 54
λr=0.1 Collision rate [%] 0 0 0 3 0.75
Avg. tracking error [m] 3.98 6.15 7.91 7.33 6.34