# Offline SR-vs-PPO next-action RMSE

RMSE is evaluated on causally aligned PPO-visited states: each post-action state predicts the next PPO action. This is an offline imitation diagnostic, not closed-loop performance.

| Objective | Training case | States | Front RMSE | Upper RMSE | Lower RMSE | Aggregate RMSE |
|---|---|---:|---:|---:|---:|---:|
| karman | karman_re50 | 197 | 1.73860463 | 1.39458231 | 1.13278257 | 1.44346830 |
| karman | karman_re100 | 197 | 0.51356311 | 1.24024221 | 1.32638969 | 1.08953467 |
| karman | karman_re200 | 197 | 1.47993917 | 2.29449643 | 2.86751651 | 2.28601434 |
| karman | karman_re400 | 197 | 0.40632824 | 2.55717318 | 2.72429918 | 2.16994956 |
| illusion | illusion_0.75L | 197 | 0.82228198 | 1.77041216 | 1.43962577 | 1.40036058 |
| illusion | illusion_1L | 197 | 0.85035894 | 1.20967232 | 0.58682215 | 0.91847295 |
| illusion | illusion_1.5L | 197 | 3.20534050 | 2.22584755 | 1.74754340 | 2.46863748 |

All action errors are in dimensionless surface-speed α. Aggregate RMSE pools the three action channels and all aligned states within a case.
