ResearchBenchmarksBending-envelope tracking on Robophysical swimming experiments U = 13.6 cm/sBending-envelope tracking on Robophysical swimming experiments U = 13.6 cm/sFollow0.013RMSEPID-LRLES0.012520.015760.0190.02224Jun 9, 2026Evaluation resultsMethodMethodLinksRMSEPID-LRLESEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.013PIDEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.025