Open-loop prediction on Unitree Go1 Locomotion (Gazebo sim, val)
0.003vx RMSE (m/s)EDMD-SE(3)
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| EDMD-SE(3)2026.04 | 0.003 | 0.003 | 0.009 | 0.07 | 0.094 | 0.016 | |
| Res-Koopman2026.04 | 0.003 | 0.003 | 0.007 | 0.064 | 0.089 | 0.023 | |
| SRB2026.04 | 0.007 | 0.008 | 0.016 | 0.091 | 0.118 | 0.035 | |
| EDMD (mono)2026.04 | 4.05 | 3.19 | 1.22 | 3.16 | 2.11 | 1.29 |