Prediction horizon

1 s

2 s

3 s

4 s

Mean MAE of PRP prediction

12.00%

14.07%

14.77%

15.087%

for THEO predictor

Mean MAE of PRP prediction

13.09%

15.55%

16.71%

17.52%

for DES predictor

Mean MAE of PRP prediction

13.47%

16.54%

18.21%

19.38%

for LLM predictor

Max difference of MAE of PRP prediction

1.15%

1.59%

2.11%

2.61%

between DES and THEO predictor

Max difference of MAE of PRP prediction

1.54%

2.57%

3.65%

4.62%

between LLM and THEO predictor

Mean difference of MAE of PRP prediction

0.39%

1.00%

1.50%

1.89%

between LLM and DES predictor