Wrench Forecasting on RH20T (test)
11.876wRMSE (Force)FDN (Pretrained)
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| FDN (Pretrained)Time Delay=100 ms, Pre-training=true2026.04 | 11.876 | 2.621 | |
| FDN (Scratch)Time Delay=100 ms, Pre-training=false2026.04 | 12.912 | 2.593 | |
| FDN (Pretrained)Time Delay=1,000 ms, Pre-training=true2026.04 | 13.798 | 2.997 | |
| FDN (Scratch)Time Delay=1,000 ms, Pre-training=false2026.04 | 14.355 | 2.903 | |
| PatchTST-GaussianTime Delay=100 ms2026.04 | 15.336 | 3.377 | |
| PatchTST-GaussianTime Delay=1,000 ms2026.04 | 15.658 | 3.412 | |
| LSTMTime Delay=100 ms2026.04 | 17.941 | 3.766 | |
| LSTMTime Delay=1,000 ms2026.04 | 18.465 | 3.837 | |
| iTransformerTime Delay=100 ms2026.04 | 21.992 | 4.515 | |
| PatchTSTTime Delay=100 ms2026.04 | 22.274 | 4.565 | |
| LSTM-EDTime Delay=1,000 ms2026.04 | 22.508 | 4.55 | |
| LSTM-EDTime Delay=100 ms2026.04 | 22.554 | 4.574 | |
| PatchTSTTime Delay=1,000 ms2026.04 | 23.059 | 4.72 | |
| iTransformerTime Delay=1,000 ms2026.04 | 23.135 | 4.742 | |
| RBFTime Delay=100 ms2026.04 | 23.421 | 4.644 | |
| RBFTime Delay=1,000 ms2026.04 | 23.454 | 4.65 | |
| MINNTime Delay=100 ms2026.04 | 23.645 | 4.801 | |
| MINNTime Delay=1,000 ms2026.04 | 23.717 | 4.816 | |
| TransformerTime Delay=1,000 ms2026.04 | 23.958 | 4.87 | |
| TransformerTime Delay=100 ms2026.04 | 24.019 | 4.887 | |
| GPRTime Delay=100 ms2026.04 | 24.262 | 4.849 | |
| GPRTime Delay=1,000 ms2026.04 | 24.3 | 4.861 | |
| CNNTime Delay=100 ms2026.04 | 24.394 | 4.989 | |
| CNNTime Delay=1,000 ms2026.04 | 24.428 | 4.996 |