ResearchBenchmarksState Estimation on Duffing Oscillator noise-free yk (test)State Estimation on Duffing Oscillator noise-free yk (test)Follow0RMSE q (m)LNN-0.00040.00230.0050.0077Jun 30, 2026Evaluation resultsMethodMethodLinksRMSE q (m)RMSE q-dot (m/s)LNNVelocity estimation=nu...Velocity estimation=numerical differentiation2026.0600.21TrEKFModel=knownModel=known2026.060.010.02TrCKFModel=knownModel=known2026.060.010.03PrEKFFramework=Proposed Bay...Framework=Proposed Bayesian filtering2026.060.010.03PrCKFFramework=Proposed Bay...Framework=Proposed Bayesian filtering2026.060.010.04