### Table VIII. Full3D end-to-end comparison

| Scenario | Method | RMSE | Motor Var | State Cov Trace | Dense Viol. | B-max | c_bar |
| --- | --- | --- | --- | --- | --- | --- | --- |
| Nominal Hover | Direct TD3 | -- | -- | -- | -- | -- | -- |
| Nominal Hover | TD3 + action-diff (CAPS-style) | -- | -- | -- | -- | -- | -- |
| Nominal Hover | TD3 + projection only | -- | -- | -- | -- | -- | -- |
| Nominal Hover | CG-RVC / Full method | -- | -- | -- | -- | -- | -- |
| Heavy Payload | Direct TD3 | -- | -- | -- | -- | -- | -- |
| Heavy Payload | TD3 + action-diff (CAPS-style) | -- | -- | -- | -- | -- | -- |
| Heavy Payload | TD3 + projection only | -- | -- | -- | -- | -- | -- |
| Heavy Payload | CG-RVC / Full method | -- | -- | -- | -- | -- | -- |
| Agile Attitude | Direct TD3 | -- | -- | -- | -- | -- | -- |
| Agile Attitude | TD3 + action-diff (CAPS-style) | -- | -- | -- | -- | -- | -- |
| Agile Attitude | TD3 + projection only | -- | -- | -- | -- | -- | -- |
| Agile Attitude | CG-RVC / Full method | -- | -- | -- | -- | -- | -- |
| Payload Mismatch | Direct TD3 | -- | -- | -- | -- | -- | -- |
| Payload Mismatch | TD3 + action-diff (CAPS-style) | -- | -- | -- | -- | -- | -- |
| Payload Mismatch | TD3 + projection only | -- | -- | -- | -- | -- | -- |
| Payload Mismatch | CG-RVC / Full method | -- | -- | -- | -- | -- | -- |
