ResearchBenchmarksCircle Tracking on Free-space Circle Tracking (R=12 cm, T=8 s, XZ sagittal)Follow0.24RMSE (mm)MPC-0.6925.59911.8918.181Jun 6, 2026Evaluation ResultsMethodMethodLinksRMSE (mm)Relative Improvement FactorMPCController=MPCController=MPC2026.060.2497IMPController=IMPController=IMP2026.0623.54—