ResearchBenchmarksClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Figure-eight - fastClosed-Loop End-Effector Tracking on Trunk Robot Trajectories Figure-eight - fastFollow8.12Average RMSE (mm)caSSM7.84089.725411.6113.4946Mar 24, 2026Evaluation resultsMethodMethodLinksAverage RMSE (mm)caSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.038.12oSSMHorizon N=10, Model Ra...Horizon N=10, Model Rate=50 Hz, Actuation Rate=25 Hz2026.0315.1