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Excited to introduce PyRoki ("Python Robot Kinematics"): easier IK, trajectory optimization, motion retargeting... with an open-source toolkit on both CPU and GPU

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Chung Min Kim

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117,384 görüntüleme • 1 yıl önce •via X (Twitter)

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Chung Min Kim profil fotoğrafı
Chung Min Kim1 yıl önce

PyRoki's focus is flexibility, but it's also fast: up to 1.4-1.7x faster than cuRobo for GPU-accelerated IK! (with higher success and lower errors, see paper ✨)

Chung Min Kim profil fotoğrafı
Chung Min Kim1 yıl önce

This work wouldn't have been possible without my collaborators @brenthyi @redstone_hong @YiMaTweets @Ken_Goldberg @akanazawa ! The toolkit is available here: Website: Code:

Kevin Zakka profil fotoğrafı
Kevin Zakka1 yıl önce

Happy to see this public, congrats @ChungMinKim !

Chung Min Kim profil fotoğrafı
Chung Min Kim1 yıl önce

Thank you!! Excited to have this out :-)

Max Fu profil fotoğrafı
Max Fu1 yıl önce

Congrats on the release!

Vector Wang profil fotoğrafı
Vector Wang1 yıl önce

Can it do ik on a 5dof arm? Like LeRobot so100?

Chung Min Kim profil fotoğrafı
Chung Min Kim1 yıl önce

:-)

Vector Wang profil fotoğrafı
Vector Wang1 yıl önce

Definitely try it this week and use it for my XLeRobot!

Shreyas Kapur profil fotoğrafı
Shreyas Kapur1 yıl önce

Incredible work ✨ This is so cool!!

Chung Min Kim profil fotoğrafı
Chung Min Kim1 yıl önce

🥹 thank u 👉👈

Danijar Hafner profil fotoğrafı
Danijar Hafner1 yıl önce

Looks cool, congrats!!

Amy Lu profil fotoğrafı
Amy Lu1 yıl önce

This is so cool!! Yay Chung Min 🤩🌟

Michael Cho - Rbt/Acc profil fotoğrafı
Michael Cho - Rbt/Acc1 yıl önce

Great stuff! We can always use better IK 😅

jessica dai profil fotoğrafı
jessica dai1 yıl önce

yay!!!!

Carlos DP 🤖🇺🇸 profil fotoğrafı
Carlos DP 🤖🇺🇸1 yıl önce

You guys are killing it today, damn lol

RobotSoul profil fotoğrafı
RobotSoul1 yıl önce

Need more regularization?

Youngsun Wi ✈️ RSS 2026 profil fotoğrafı
Youngsun Wi ✈️ RSS 20261 yıl önce

Hey! amazing work👍 excited to try it out

Reborn profil fotoğrafı
Reborn1 yıl önce

This looks awesome, love the clean IK and retargeting workflow.

Daily Digital Digest profil fotoğrafı
Daily Digital Digest1 yıl önce

Cooool!

CyberNetics profil fotoğrafı
CyberNetics1 yıl önce

Hey, PyRoki sounds cool, but how does it stack up against other tools for robot kinematics? What makes its IK and trajectory optimization easier to use?

Anon profil fotoğrafı
Anon1 yıl önce

No quadrupeds? 😔

ObotX - Open Source Robotics profil fotoğrafı
ObotX - Open Source Robotics1 yıl önce

Wow! Awesome! Does it work also with closed loop IK like: ? It might be the future of robotics as its much simpler, less expensive with high load capacity

Raj profil fotoğrafı
Raj1 yıl önce

This is pretty cool - will check it out. QQ: Did you find PyRoki perform better in collisions also than cuRobo?

BlockChan profil fotoğrafı
BlockChan10 ay önce

wen this gonna be public product

51WORLD profil fotoğrafı
51WORLD1 yıl önce

Cool project👏More GPU-friendly robotics tools are exactly what's needed

Amit Ika profil fotoğrafı
Amit Ika1 yıl önce

@TheHumanoidHub Can it consider joint angle limits when calculating IK solutions? Or collision avoidance with known objects in the workspace?

ScottLabs profil fotoğrafı
ScottLabs1 yıl önce

Amazing work! I knew Python was versatile but never even considered it for robot simulations. Love it!

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1.7× faster inverse kinematics in pure Python, GPU-accelerated! Fully open-source and built for scale [📍Bookmark for later] PyRoki, a modular toolkit for robot kinematic optimization, supporting - inverse kinematics - trajectory optimization, and - motion retargeting. Built for flexibility, but also fast: ✅ Runs on CPU, GPU, and TPU ✅ Outperforms cuRobo in speed, success rate, and accuracy ✅ Fully in Python, easy to integrate and extend Whether you’re working with industrial arms, simulation environments, or humanoids, PyRoki is designed to fit your stack and scale with your hardware. Thank you, Chung Min Kim, for sharing!! Website: Code: Paper: This one’s for researchers, builders, and anyone tired of debugging their IK stack.
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1.7× faster inverse kinematics in pure Python, GPU-accelerated! Fully open-source and built for scale [📍Bookmark for later] PyRoki, a modular toolkit for robot kinematic optimization, supporting - inverse kinematics - trajectory optimization, and - motion retargeting. Built for flexibility, but also fast: ✅ Runs on CPU, GPU, and TPU ✅ Outperforms cuRobo in speed, success rate, and accuracy ✅ Fully in Python, easy to integrate and extend Whether you’re working with industrial arms, simulation environments, or humanoids, PyRoki is designed to fit your stack and scale with your hardware. Thank you, Chung Min Kim, for sharing!! Website: Code: Paper: This one’s for researchers, builders, and anyone tired of debugging their IK stack.

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