No rays didn't change physical. They adapt with technique. There is no way around physical. If your kick divert water movement downward, you will kick up silt. Same for rays
Thank you for spelling my point out for @tursiops
Swimmer's flutter kicks is small amplitude whip with entire leg. Add proper ankle stretch and trim, and it will direct the water back, not down. Of course if you do it an inch above a bed of super-extra fine talcum powder, it'll raise silt, but 6" above a regular sandy bottom it won't lift much more muck than a ray does.
IME all those "modified" techniques, OTOH, work great in perfectly still water. Open sea with a bit of a surge: they only do something if you're drifting with the current.