ResearchBenchmarksOne-step prediction on Quad-Link Pendulum Without noise (test)One-step prediction on Quad-Link Pendulum Without noise (test)Follow0.2006MSEDSE0.1964240.2246120.25280.280988Jun 12, 2026Evaluation resultsMethodMethodLinksMSEDSElength=1.5klength=1.5k2026.060.2006ELTO-KFlength=1.5klength=1.5k2026.060.2175RKNlength=1.5klength=1.5k2026.060.2198LSTMlength=1.5klength=1.5k2026.060.2527DSElength=15klength=15k2026.060.2615RKNlength=15klength=15k2026.060.2838ELTO-KFlength=15klength=15k2026.060.2924LSTMlength=15klength=15k2026.060.305