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PyRoki: A Modular Toolkit for Robot Kinematic Optimization

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arxiv 2505.03728 v1 pith:E7XONRFD submitted 2025-05-06 cs.RO

Chung Min Kim , Brent Yi , Hongsuk Choi , Yi Ma , Ken Goldberg , Angjoo Kanazawa This is my paper · ORCID
classification cs.RO
keywords pyrokioptimizationkinematiccross-platformexistingmodularmotionrobot
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Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present PyRoki: a modular, extensible, and cross-platform toolkit for solving kinematic optimization problems. PyRoki couples an interface for specifying kinematic variables and costs with an efficient nonlinear least squares optimizer. Unlike existing tools, it is also cross-platform: optimization runs natively on CPU, GPU, and TPU. In this paper, we present (i) the design and implementation of PyRoki, (ii) motion retargeting and planning case studies that highlight the advantages of PyRoki's modularity, and (iii) optimization benchmarking, where PyRoki can be 1.4-1.7x faster and converges to lower errors than cuRobo, an existing GPU-accelerated inverse kinematics library.

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Cited by 5 Pith papers

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