Latent dynamics learning on PCC-NS-2 soft robot with two constant curvature segments (test)
0.0951RMSEGRU
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| GRU# Parameters=928, Train. steps per second=1.83, Inf. time [ms]=3.2, Latent dimension (nz)=8, Batch size=1, GPU=Nvidia RTX 30902024.09 | 0.0951 | 26.45 | 0.973 | |
| CON-SModel scale=small, # Parameters=676, Train. steps per second=0.78, Inf. time [ms]=50.2, Latent dimension (nz)=8, Batch size=1, GPU=Nvidia RTX 30902024.09 | 0.0996 | 26.05 | 0.9792 | |
| CON-MModel scale=medium, # Parameters=7048, Train. steps per second=0.6, Inf. time [ms]=60.1, Latent dimension (nz)=8, Batch size=1, GPU=Nvidia RTX 30902024.09 | 0.1008 | 25.95 | 0.9786 | |
| MECH-NODE# Parameters=3062, Train. steps per second=0.79, Inf. time [ms]=50.3, Latent dimension (nz)=8, Batch size=1, GPU=Nvidia RTX 30902024.09 | 0.1035 | 25.07 | 0.9778 | |
| CFA-CON# Parameters=7048, Train. steps per second=1.12, Inf. time [ms]=13.6, Latent dimension (nz)=8, Batch size=1, GPU=Nvidia RTX 30902024.09 | 0.1124 | 25.01 | 0.9734 | |
| RNN# Parameters=320, Train. steps per second=1.87, Inf. time [ms]=2.6, Latent dimension (nz)=8, Batch size=1, GPU=Nvidia RTX 30902024.09 | 0.1373 | 23.27 | 0.9643 | |
| NODE# Parameters=3856, Train. steps per second=0.79, Inf. time [ms]=50.2, Latent dimension (nz)=8, Batch size=1, GPU=Nvidia RTX 30902024.09 | 0.1867 | 20.6 | 0.8774 | |
| coRNN# Parameters=152, Train. steps per second=1.89, Inf. time [ms]=2.7, Latent dimension (nz)=8, Batch size=1, GPU=Nvidia RTX 30902024.09 | 0.2504 | 18.05 | 0.9814 |