ResearchBenchmarksState Estimation on Simple Pendulum noise-free yk (test)State Estimation on Simple Pendulum noise-free yk (test)Follow0RMSE q (rad)LNN-0.00080.00460.010.0154Jun 30, 2026Evaluation resultsMethodMethodLinksRMSE q (rad)RMSE q-dot (rad/s)LNNVelocity estimation=nu...Velocity estimation=numerical differentiation2026.0600.04TrEKFModel=knownModel=known2026.060.010.05TrCKFModel=knownModel=known2026.060.010.04PrEKFFramework=Proposed Bay...Framework=Proposed Bayesian filtering2026.060.010.11PrCKFFramework=Proposed Bay...Framework=Proposed Bayesian filtering2026.060.020.14