ResearchBenchmarksJoint-space residual torque estimation on 6-DoF robot experimental data (test)Joint-space residual torque estimation on 6-DoF robot experimental data (test)Follow1.691Joint 1 Torque RMSENNADKF1.664721.842112.01952.19689Dec 15, 2025Evaluation resultsMethodMethodLinksJoint 1 Torque RMSEJoint 2 Torque RMSEJoint 3 Torque RMSEJoint 4 Torque RMSEJoint 5 Torque RMSEJoint 6 Torque RMSEAverage Joint Torque RMSENNADKF2025.121.6918.9326.8062.8360.9840.8563.684GPADKF2025.122.2018.257.3472.4671.0060.5833.643GMR-GP2025.122.3336.1466.9832.3961.0010.6213.247K-VARK2025.122.3485.86.9062.3881.0070.6273.179