ResearchBenchmarksResidual Torque Estimation on 6-DoF Robot (Joint 1)Residual Torque Estimation on 6-DoF Robot (Joint 1)Follow1.4445RMSE (Nm)Sparse GP1.416621.604811.7931.98119Dec 15, 2025Evaluation resultsMethodMethodLinksRMSE (Nm)Sparse GP2025.121.4445KMP2025.121.5071GMR-GP2025.121.5333NN2025.122.1415