Robot Dynamics Modeling on Unitree G1
0.289State RMSESTRIDE
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| STRIDEHorizon=302026.03 | 0.289 | 12.1 | |
| Pure DiffusionHorizon=302026.03 | 0.314 | — | |
| LNN + DiffusionHorizon=302026.03 | 0.918 | 15.4 | |
| DeLaNHorizon=302026.03 | 1.023 | 17.1 | |
| Plain MLPHorizon=302026.03 | 1.204 | — |