Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle

Table 4

Training effect by using different width structures.

Width	Accuracy on validation set		Accuracy on test set
	No pretraining	Pretraining	No pretraining (%)	Pretraining (%)
6-6-6-6-6-6-6-5	82.8	83.2	81.0	84.5
6-7-7-7-7-7-7-5	82.8	87.3	76.2	80.3
6-6-7-7-8-7-6-5	88.2	91.3	84.9	88.9
6-8-8-8-8-8-8-5	63.9	66.2	61.9	71.8
6-10-10-10-10-10-10-5	9.7	71.4	66.7	70.2
6-6-6-6-6-6-6-5	82.8	82.9	81.0	82.6