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Inverse Kinematics

Benchmarks

Dataset Name	SOTA Method	Metric
Arm on a Table		Average Optimal Cost5.5	9	1mo ago
Arm on a Table		Success Rate100	9	1mo ago
Arm on a Table	Sequential Quadratic Programming (SNOPT)	Mean Runtime0.02	9	1mo ago
Franka Arm 2000 random valid joint configurations Locking q7		Joint Angles Computation Time (µs)0.3	8	1mo ago
Mobile Manipulator	NLOPT	Average Optimal Cost3.44	7	1mo ago
Mobile Manipulator		Success Rate95	7	1mo ago
Mobile Manipulator	Interior Point (IPOPT)	Mean Runtime0.17	7	1mo ago
Grasp Selection	Interior Point (IPOPT)	Mean Runtime0.15	7	1mo ago
Franka Arm 2000 random valid joint configurations Locking q4	GeoFIK	Joint Angles Computation Time (µs)5.1	6	1mo ago
Franka Arm Locking q6 2000 random valid joint configurations	GeoFIK	Joint Angles Computation Time (µs)2.5	6	1mo ago
Bimanual Mobile Manipulator	IPOPT	Average optimal cost25.5	6	1mo ago
Bimanual Mobile Manipulator	Optimization IK with Analytic IK Change of Variables	Success Rate78.19	6	1mo ago
Bimanual Mobile Manipulator	Sequential Quadratic Programming (SNOPT)	Mean Runtime0.18	6	1mo ago
AMASS	HuProSO3	MPJPE27.3	4	1mo ago
AMASS (test)	Pose-NDF	L24.9	4	1mo ago
Humanoid Stability Equality	Optimization IK with Analytic IK Change of Variables	Success Rate96	3	1mo ago
Humanoid Stability Inequality	Optimization IK with Analytic IK Change of Variables	Success Rate97	3	1mo ago
Humanoid Stability Equality	Interior Point (IPOPT)	Mean Runtime1.61	3	1mo ago
Humanoid Stability Inequality	Interior Point (IPOPT)	Mean Runtime1.26	3	1mo ago
Panda Manipulator 150,000 random IK problems (test)	PaddingFlow	Position Error (mm)5.96	3	1mo ago
Franka Arm 2000 random valid joint configurations Locking S. Angle	GeoFIK	Computation Time (Joint Angles, µs)41.7	2	1mo ago
BMLhandball Challenging Dataset	HL-IK	Key Point Position Error (m)0.0598	2	1mo ago
BMLhandball (Full Dataset)	HL-IK	Key Point Position Error (m)0.0594	2	1mo ago

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