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. Author manuscript; available in PMC: 2025 Aug 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2024 May 31;6(3):1004–1016. doi: 10.1109/tmrb.2024.3407590

TABLE IV.

Performance Comparison of the Networks with ResNet101 Employed as the Feature Extractor Across All Networks.

Network Fusion Method Modality MAE (N) MSE (N2) RMSE (N)
LSTMs - Shape 0.0280 0.0014 0.0374
LSTMs - Optical Flow 0.0424 0.0029 0.0539
LSTMs Concatenation Shape+Optical Flow 0.0251 0.0009 0.0307
LSTMs Memory Fusion Shape+Optical Flow 0.0125 0.0004 0.0200
GRUs - Shape 0.0288 0.0013 0.0361
GRUs - Optical Flow 0.0471 0.0034 0.0583
GRUs Concatenation Shape+Optical Flow 0.0248 0.0009 0.0310
Transformer - Shape 0.0274 0.0010 0.0316
Transformer - Optical Flow 0.0360 0.0019 0.0436
Transformer Concatenation Shape+Optical Flow 0.0265 0.0001 0.0311