ResearchBenchmarksOpen-loop prediction on Tendon-driven continuum trunk robot 150 random segmentsOpen-loop prediction on Tendon-driven continuum trunk robot 150 random segmentsFollow2.8RMSEcaSSM2.623.8355.056.265Mar 24, 2026Evaluation resultsMethodMethodLinksRMSEcaSSMModel=caSSMModel=caSSM2026.032.8oSSMModel=oSSMModel=oSSM2026.034.6KoopmanModel=KoopmanModel=Koopman2026.037.3