ResearchBenchmarksOne-step prediction on Quad-Link Pendulum With noise (test)One-step prediction on Quad-Link Pendulum With noise (test)Follow0.2593MSEDSE0.256640.2745950.292550.310505Jun 12, 2026Evaluation resultsMethodMethodLinksMSEDSElength=1.5klength=1.5k2026.060.2593DSElength=15klength=15k2026.060.2683ELTO-KFlength=15klength=15k2026.060.2936ELTO-KFlength=1.5klength=1.5k2026.060.2942RKNlength=1.5klength=1.5k2026.060.2944LSTMlength=15klength=15k2026.060.3158LSTMlength=1.5klength=1.5k2026.060.3167RKNlength=15klength=15k2026.060.3258