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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
AMASS SSM, Transitions (test)
IK-GAT
MPJAE
7.43
10
1mo ago
AMASS HDM05, HumanEva, MoSh, SFU (val)
IK-GAT
MPJAE
7.98
10
1mo ago
Arm on a Table
Global-IK
Average Optimal Cost
5.5
9
3mo ago
Arm on a Table
Sampling
Success Rate
100
9
3mo ago
Arm on a Table
Sequential Quadratic Programming (SNOPT)
Mean Runtime
0.02
9
3mo ago
Sawyer Robot Fixed Workcell Environment (Fixed Obstacles, Random Targets)
IKSPARK + IPOPT
Success Rate (Solving)
0.8583
8
1mo ago
Sawyer Robot Random Environment Random Obstacles, Random Targets
IKSPARK + IPOPT
Success Rate (Solving)
483
8
1mo ago
Franka Arm 2000 random valid joint configurations Locking q7
HeLiu
Joint Angles Computation Time (µs)
0.3
8
2mo ago
Mobile Manipulator
NLOPT
Average Optimal Cost
3.44
7
3mo ago
Mobile Manipulator
Sampling
Success Rate
95
7
3mo ago
Mobile Manipulator
Interior Point (IPOPT)
Mean Runtime
0.17
7
3mo ago
Grasp Selection
Interior Point (IPOPT)
Mean Runtime
0.15
7
3mo ago
Universal Robots UR10
GraphDiff-IK
Position Error Mean (mm)
3.99
6
1d ago
Franka Emika Panda
GraphDiff-IK
Position Error Mean (mm)
3.47
6
1d ago
Franka Arm 2000 random valid joint configurations Locking q4
GeoFIK
Joint Angles Computation Time (µs)
5.1
6
2mo ago
Franka Arm Locking q6 2000 random valid joint configurations
GeoFIK
Joint Angles Computation Time (µs)
2.5
6
2mo ago
Bimanual Mobile Manipulator
IPOPT
Average optimal cost
25.5
6
3mo ago
Bimanual Mobile Manipulator
Optimization IK with Analytic IK Change of Variables
Success Rate
78.19
6
3mo ago
Bimanual Mobile Manipulator
Sequential Quadratic Programming (SNOPT)
Mean Runtime
0.18
6
3mo ago
7-DoF exoskeleton experiment
PINV
RMS Velocity Error (m/s)
0
5
2d ago
UE-IK mannequin benchmark UE5
IK-GAT
MPJAE
12.83
5
1mo ago
AMASS
HuProSO3
MPJPE
27.3
4
3mo ago
AMASS (test)
Pose-NDF
L
24.9
4
3mo ago
Humanoid Stability Equality
Optimization IK with Analytic IK Change of Variables
Success Rate
96
3
3mo ago
Humanoid Stability Inequality
Optimization IK with Analytic IK Change of Variables
Success Rate
97
3
3mo ago
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