ResearchBenchmarksBending-envelope tracking on Robophysical swimming experiments U = 0 cm/sBending-envelope tracking on Robophysical swimming experiments U = 0 cm/sFollow0.015RMSEPID-LRLES0.01460.01730.020.0227Jun 9, 2026Evaluation resultsMethodMethodLinksRMSEPID-LRLESEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.015PIDEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.025