Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle

Table 3

Training effect by using different depth structures.

Depth	Accuracy on validation set		Accuracy on test set
	No pretraining	Pretraining	No pretraining	Pretraining
5	80.1	84.8	72.3	77.8
7	81.4	85.1	73.5	75.2
8	88.2	91.3	84.9	88.9
9	78.2	82.5	73.5	75.9
11	76.7	80.8	67.4	70.1
12	52.1	55.7	40.8	42.2