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SOTA Inverse Kinematics benchmarks and papers with code | Wizwand
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Inverse Kinematics
Benchmarks
Dataset Name
SOTA Method
Dataset Name
SOTA Method
Metric
Trend
Results
Last Updated
Fetch Arm open-world random target (test)
HJCD-IK
Time (ms)
2.41
20
17d ago
Panda Arm open-world random target (test)
HJCD-IK
Execution Time (ms)
3.82
20
17d ago
open-world random target benchmark synthetic arm
HJCD-IK
Time (ms)
4.25
12
17d ago
AMASS SSM, Transitions (test)
IK-GAT
MPJAE
7.43
10
3mo ago
AMASS HDM05, HumanEva, MoSh, SFU (val)
IK-GAT
MPJAE
7.98
10
3mo ago
Arm on a Table
Global-IK
Average Optimal Cost
5.5
9
5mo ago
Arm on a Table
Sampling
Success Rate
100
9
4mo ago
Arm on a Table
Sequential Quadratic Programming (SNOPT)
Mean Runtime
0.02
9
5mo ago
Sawyer Robot Fixed Workcell Environment (Fixed Obstacles, Random Targets)
IKSPARK + IPOPT
Success Rate (Solving)
0.8583
8
2mo ago
Sawyer Robot Random Environment Random Obstacles, Random Targets
IKSPARK + IPOPT
Success Rate (Solving)
483
8
2mo ago
Franka Arm 2000 random valid joint configurations Locking q7
HeLiu
Joint Angles Computation Time (µs)
0.3
8
4mo ago
Held-out (test)
cuRobo
Mean Error (mm)
0
7
1mo ago
Mobile Manipulator
NLOPT
Average Optimal Cost
3.44
7
5mo ago
Mobile Manipulator
Sampling
Success Rate
95
7
4mo ago
Mobile Manipulator
Interior Point (IPOPT)
Mean Runtime
0.17
7
5mo ago
Grasp Selection
Interior Point (IPOPT)
Mean Runtime
0.15
7
5mo ago
Universal Robots UR10
GraphDiff-IK
Position Error Mean (mm)
3.99
6
1mo ago
Franka Emika Panda
GraphDiff-IK
Position Error Mean (mm)
3.47
6
1mo ago
Franka Arm 2000 random valid joint configurations Locking q4
GeoFIK
Joint Angles Computation Time (µs)
5.1
6
4mo ago
Franka Arm Locking q6 2000 random valid joint configurations
GeoFIK
Joint Angles Computation Time (µs)
2.5
6
4mo ago
Bimanual Mobile Manipulator
IPOPT
Average optimal cost
25.5
6
5mo ago
Bimanual Mobile Manipulator
Optimization IK with Analytic IK Change of Variables
Success Rate
78.19
6
4mo ago
Bimanual Mobile Manipulator
Sequential Quadratic Programming (SNOPT)
Mean Runtime
0.18
6
5mo ago
7-DoF exoskeleton experiment
PINV
RMS Velocity Error (m/s)
0
5
1mo ago
UE-IK mannequin benchmark UE5
IK-GAT
MPJAE
12.83
5
3mo ago
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