ResearchBenchmarksClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Figure-eightClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Figure-eightFollow4.4Average RMSE (mm)caSSM3.50729.533615.5621.5864Mar 24, 2026Evaluation resultsMethodMethodLinksAverage RMSE (mm)caSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.034.4oSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.038.64KoopmanLifted dimension n=120...Lifted dimension n=120, Horizon N=22026.0326.72