ResearchBenchmarksResidual torque estimation on 6-DoF Robot Joint 6Follow0.235RMSE (Nm)Sparse GP0.233660.2427050.251750.260795Dec 15, 2025Evaluation ResultsMethodMethodLinksRMSE (Nm)Sparse GP2025.120.235NN2025.120.2405KMP2025.120.2586GMR-GP2025.120.2685