ResearchBenchmarksBending-envelope tracking on Robophysical swimming experiments U = 5.10 cm/sBending-envelope tracking on Robophysical swimming experiments U = 5.10 cm/sFollow0.012RMSEPID-LRLES0.01160.01430.0170.0197Jun 9, 2026Evaluation resultsMethodMethodLinksRMSEPID-LRLESEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.012PIDEvaluation duration=[1...Evaluation duration=[10, 30] s, Number of trials=52026.060.022