Everyone of these units I've ever seen has either had multiple wobble plates out of phase for balancing or a dedicated balance weight.
There's no free lunch.
It's no coincidence that you only see these types of drives in major industrial applications where a bit of extra mass and volume is worth some of the cycloid's benefits.
Here's an unbalanced unit designed to work with RS-550 and RS-775 motors built for the 2012 FRC season.
You can see that this unit is very polished and was even intended for production...however, its promise didn't match with its performance.
https://www.dropbox.com/s/mthooimzm0...42.02.jpg?dl=0