ResearchBenchmarksCartesian-space force and moment estimation on 6-DoF robot experimental data (test)Cartesian-space force and moment estimation on 6-DoF robot experimental data (test)Follow2.992Fx RMSEK-VARK2.94583.257653.56953.88135Dec 15, 2025Evaluation resultsMethodMethodLinksFx RMSEFy RMSEFz RMSEmx RMSEmy RMSEmz RMSECartesian RMSEK-VARK2025.122.99210.32210.1521.43610.6274.422GMR-GP2025.123.34110.95510.3591.521.0330.6214.638GPADKF2025.123.6919.77212.7621.581.0730.5834.91NNADKF2025.124.14715.80811.1272.6211.2840.8465.972