ResearchBenchmarksResidual torque estimation on 6-DoF Robot Joint 4Follow0.3045RMSE (Nm)NN0.3034360.3106180.31780.324982Dec 15, 2025Evaluation ResultsMethodMethodLinksRMSE (Nm)NN2025.120.3045KMP2025.120.3245Sparse GP2025.120.3256GMR-GP2025.120.3311