ResearchBenchmarksClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Circle 5 cmClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Circle 5 cmFollow4.6Average RMSE (mm)caSSM3.9688.23412.516.766Mar 24, 2026Evaluation resultsMethodMethodLinksAverage RMSE (mm)caSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.034.6oSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.039.89KoopmanLifted dimension n=120...Lifted dimension n=120, Horizon N=22026.0320.4