State Prediction on IsaacGym Franka Robot Trajectories Entire planning horizon (15 steps)
0.789Maximum ErrorRM-DeSKO
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| RM-DeSKO2026.03 | 0.789 | 1.061 | |
| Transformer2026.03 | 0.801 | 1.175 | |
| LSTM2026.03 | 0.816 | 1.074 | |
| RM-DeSKO-N2026.03 | 0.816 | 1.082 | |
| RM-DeSKO-A2026.03 | 0.827 | 1.075 | |
| MLP2026.03 | 0.852 | 0.893 | |
| DKU2026.03 | 0.86 | 0.98 |