ResearchBenchmarksClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Circle 8 cmClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Circle 8 cmFollow9.13Avg RMSE (mm)caSSM8.703211.584114.46517.3459Mar 24, 2026Evaluation resultsMethodMethodLinksAvg RMSE (mm)caSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.039.13oSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.0319.8