ResearchBenchmarksResidual torque estimation on 6-DoF Robot (Joint 5)Follow0.2424RMSE (Nm)Sparse GP0.2406320.2525660.26450.276434Dec 15, 2025Evaluation ResultsMethodMethodLinksRMSE (Nm)Sparse GP2025.120.2424NN2025.120.2476KMP2025.120.2737GMR-GP2025.120.2866