ResearchBenchmarksDynamics Modeling on RobotArm Standard Benchmark (CS2)Dynamics Modeling on RobotArm Standard Benchmark (CS2)Follow0.0021MAEPHRPINN-0.0043360.0391070.082550.125993Nov 28, 2025Evaluation resultsMethodMethodLinksMAEDTWMean ViolationPHRPINNprojection=Fastprojection=Fast2025.110.00210.3111.95PNODEprojection=Fastprojection=Fast2025.110.00520.7640PINNversion=Dynamicsversion=Dynamics2025.110.16318.93.97