ResearchBenchmarksClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Circle 5 cm - fastClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Circle 5 cm - fastFollow5.3Average RMSE (mm)caSSM4.97447.17229.3711.5678Mar 24, 2026Evaluation resultsMethodMethodLinksAverage RMSE (mm)caSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.035.3oSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.0313.44