ResearchBenchmarksResidual Torque Estimation on 6-DoF Robot Joint 3Follow1.0622RMSE (Nm)NN1.0248241.2771121.52941.781688Dec 15, 2025Evaluation ResultsMethodMethodLinksRMSE (Nm)NN2025.121.0622KMP2025.121.443GMR-GP2025.121.4498Sparse GP2025.121.9966