ResearchBenchmarksResidual Torque Estimation on 6-DoF Robot (Joint 2)Residual Torque Estimation on 6-DoF Robot (Joint 2)Follow2.7168RMSE (Nm)GMR-GP2.683542.9080453.132553.357055Dec 15, 2025Evaluation resultsMethodMethodLinksRMSE (Nm)GMR-GP2025.122.7168KMP2025.122.7322NN2025.122.812Sparse GP2025.123.5483