Cuttlefish-Like Robots Are Far More Efficient Than Propeller-Powered Machines
interestingengineering.com
interestingengineering.com
My suggestions: the mantle should be one piece of silicone shrouding the whole body. The levers to operate the fin should be wholly embedded, and pivot at the edge the body, not well inside. The corners should not be corners, but should taper off near the ends.
That said, kudos on a good first effort!
Video of it in action: https://youtu.be/JVq0adTn0_w