  Spin-orbit torques (SOTs) have emerged as an efficient means to electrically
control the magnetization in ferromagnetic heterostructures. Lately, an
increasing attention has been devoted to SOTs in heavy metal (HM)/magnetic
insulator (MI) bilayers owing to their tunable magnetic properties and
insulating nature. Quantitative characterization of SOTs in HM/MI
heterostructures are, thus, vital for fundamental understanding of charge-spin
interrelations and designing novel devices. However, the accurate determination
of SOTs in MIs have been limited so far due to small electrical signal outputs
and dominant spurious thermoelectric effects caused by Joule heating. Here, we
report a simple methodology based on harmonic Hall voltage detection and
macrospin simulations to accurately quantify the damping-like and field-like
SOTs, and thermoelectric contributions separately in MI-based systems.
Experiments on the archetypical Bi-doped YIG/Pt heterostructure using the
developed method yield precise values for the field-like and damping-like SOTs,
reaching -0.14 and -0.15 mT per 1.7x$10^{ 11}$ A/$m^2$, respectively. We
further reveal that current-induced Joule heating changes the spin transparency
at the interface, reducing the spin Hall magnetoresistance and damping-like
SOT, simultaneously. These results and the devised method can be beneficial for
fundamental understanding of SOTs in MI-based heterostructures and designing
new devices where accurate knowledge of SOTs is necessary.
