ResearchBenchmarksBending-envelope tracking on Robophysical swimming experiments U = 22.7 cm/sBending-envelope tracking on Robophysical swimming experiments U = 22.7 cm/sFollow0.014RMSEPID-LRLES0.01340.017450.02150.02555Jun 9, 2026Evaluation resultsMethodMethodLinksRMSEPID-LRLESEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.014PIDEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.029