正在加载视频...

视频加载失败

加载此视频时出现问题。这可能是由于临时网络问题，或视频可能不可用。

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

Chung Min Kim

1,155 subscribers

117,384 次观看 • 1 年前 •via X (Twitter)

Anya Rossi• Live Now

Private livecam show

27 条评论

Chung Min Kim 的头像

Chung Min Kim1 年前

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 的头像

Chung Min Kim1 年前

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 的头像

Kevin Zakka1 年前

Happy to see this public, congrats @ChungMinKim !

Chung Min Kim 的头像

Chung Min Kim1 年前

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

Max Fu 的头像

Max Fu1 年前

Congrats on the release!

Vector Wang 的头像

Vector Wang1 年前

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

Chung Min Kim 的头像

Chung Min Kim1 年前

:-)

Vector Wang 的头像

Vector Wang1 年前

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

Shreyas Kapur 的头像

Shreyas Kapur1 年前

Incredible work ✨ This is so cool!!

Chung Min Kim 的头像

Chung Min Kim1 年前

🥹 thank u 👉👈

Danijar Hafner 的头像

Danijar Hafner1 年前

Looks cool, congrats!!

Amy Lu 的头像

Amy Lu1 年前

This is so cool!! Yay Chung Min 🤩🌟

Michael Cho - Rbt/Acc 的头像

Michael Cho - Rbt/Acc1 年前

Great stuff! We can always use better IK 😅

jessica dai 的头像

jessica dai1 年前

yay!!!!

Carlos DP 🤖🇺🇸 的头像

Carlos DP 🤖🇺🇸1 年前

You guys are killing it today, damn lol

RobotSoul 的头像

RobotSoul1 年前

Need more regularization?

Youngsun Wi ✈️ RSS 2026 的头像

Youngsun Wi ✈️ RSS 20261 年前

Hey! amazing work👍 excited to try it out

Reborn 的头像

Reborn1 年前

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

Daily Digital Digest 的头像

Daily Digital Digest1 年前

Cooool!

CyberNetics 的头像

CyberNetics1 年前

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 的头像

Anon1 年前

No quadrupeds? 😔

ObotX - Open Source Robotics 的头像

ObotX - Open Source Robotics1 年前

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 的头像

Raj1 年前

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

BlockChan 的头像

BlockChan10 个月前

wen this gonna be public product

51WORLD 的头像

51WORLD1 年前

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

Amit Ika 的头像

Amit Ika1 年前

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

ScottLabs 的头像

ScottLabs1 年前

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

相关视频

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.

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.

Ilir Aliu

18,641 次观看 • 1 年前

Excited to open-source GMR: General Motion Retargeting. Real-time human-to-humanoid retargeting on your laptop. Supports diverse motion formats & robots. Unlock whole-body humanoid teleoperation (e.g., TWIST). video with 🔊

Excited to open-source GMR: General Motion Retargeting. Real-time human-to-humanoid retargeting on your laptop. Supports diverse motion formats & robots. Unlock whole-body humanoid teleoperation (e.g., TWIST). video with 🔊

Yanjie Ze

88,323 次观看 • 1 年前

I’m excited to introduce MASTER OSINT v2, a powerful Python toolkit for cybersecurity enthusiasts and investigators. This updated version includes 12 modules that streamline the collection and analysis of open-source intelligence. #OSINT #Cybersecurity

I’m excited to introduce MASTER OSINT v2, a powerful Python toolkit for cybersecurity enthusiasts and investigators. This updated version includes 12 modules that streamline the collection and analysis of open-source intelligence. #OSINT #Cybersecurity

D4rk_Intel

11,795 次观看 • 1 年前

We’re excited to introduce Pocket TTS: a 100M-parameter text-to-speech model with high-quality voice cloning that runs on your laptop—no GPU required. Open-source, lightweight, and incredibly fast. 🧵👇

We’re excited to introduce Pocket TTS: a 100M-parameter text-to-speech model with high-quality voice cloning that runs on your laptop—no GPU required. Open-source, lightweight, and incredibly fast. 🧵👇

kyutai

238,618 次观看 • 8 个月前

Excited to share with Inria Flowers team ADTool, an open-source Python toolkit using curiosity-driven AI to explore behavior diversity of complex systems (cellular automata, physics models, ...)!🐍 Serving off-the-shelf strategies like IMGEP You said IMGEP? 👇

Excited to share with Inria Flowers team ADTool, an open-source Python toolkit using curiosity-driven AI to explore behavior diversity of complex systems (cellular automata, physics models, ...)!🐍 Serving off-the-shelf strategies like IMGEP You said IMGEP? 👇

Inria Flowers team

13,752 次观看 • 2 年前

Video2Humanoid. Still trouble with bad retargeted humanoid motions? Humanoids now are Easy to track any video using our new Neural Motion Retargeting (NMR) Method. Optimization-based motion retargeting methods like IK and GMR are solving a non-convex problem frame by frame, which makes them sensitive to initialization, hard to tune, and prone to poor local minima. The result is familiar: joint discontinuities, self-collisions, and unstable foot contact. Our solution is simple but effective : instead of optimizing each frame independently, learn the mapping between human motion and robot motion as a distribution via networks. 📊Results on Unitree G1 - 0 joint jumps - 54% fewer self-collision frames - 61% fewer joint limit violations - Faster convergence for downstream control policy training NMR turns motion retargeting from a fragile optimization problem into a learned, scalable pipeline for more stable humanoid motion. please visit for more visualization results. opensource:

Video2Humanoid. Still trouble with bad retargeted humanoid motions? Humanoids now are Easy to track any video using our new Neural Motion Retargeting (NMR) Method. Optimization-based motion retargeting methods like IK and GMR are solving a non-convex problem frame by frame, which makes them sensitive to initialization, hard to tune, and prone to poor local minima. The result is familiar: joint discontinuities, self-collisions, and unstable foot contact. Our solution is simple but effective : instead of optimizing each frame independently, learn the mapping between human motion and robot motion as a distribution via networks. 📊Results on Unitree G1 - 0 joint jumps - 54% fewer self-collision frames - 61% fewer joint limit violations - Faster convergence for downstream control policy training NMR turns motion retargeting from a fragile optimization problem into a learned, scalable pipeline for more stable humanoid motion. please visit for more visualization results. opensource:

Xiao-Xiao Long

24,245 次观看 • 5 个月前

Excited to share Toolkit, a project I built for Theo - t3.gg’s T3 Cloneathon Mix-and-match GitHub data, Notion, Memory, Code Interpreter, and much more through an interactive chat Fully open source and looking for more Toolkit developers! Details below…

Excited to share Toolkit, a project I built for Theo - t3.gg’s T3 Cloneathon Mix-and-match GitHub data, Notion, Memory, Code Interpreter, and much more through an interactive chat Fully open source and looking for more Toolkit developers! Details below…

Jason Hedman

119,602 次观看 • 1 年前

Today, we’re excited to announce and launch Reflex Cloud on Product Hunt! Reflex is an open-source framework for building and deploying data and AI web apps in pure Python. Frontend and Backend in Pure Python: No JavaScript required! With Reflex Cloud, you can now deploy, manage, and scale your Python apps with just a single command! If you're a Python developer, an upvote or a share would mean a lot to us :)💪❤️

Today, we’re excited to announce and launch Reflex Cloud on Product Hunt! Reflex is an open-source framework for building and deploying data and AI web apps in pure Python. Frontend and Backend in Pure Python: No JavaScript required! With Reflex Cloud, you can now deploy, manage, and scale your Python apps with just a single command! If you're a Python developer, an upvote or a share would mean a lot to us :)💪❤️

Reflex

55,100 次观看 • 1 年前

🤩Excited to share SANA-WM: a 2.6B open-source world model for minute-scale 720p video generation. Given one image + text + a 6-DoF camera trajectory, it synthesizes action-controllable 60s worlds on a single GPU. Project: Paper:

🤩Excited to share SANA-WM: a 2.6B open-source world model for minute-scale 720p video generation. Given one image + text + a 6-DoF camera trajectory, it synthesizes action-controllable 60s worlds on a single GPU. Project: Paper:

Haoyi Zhu

124,608 次观看 • 4 个月前

At Advancing AI 2026, AMD went after the humanoid "robot brain," directly challenging NVIDIA's Jetson Thor at the edge. Its new Kria AI Robotics Developer Platform is an open, turnkey system putting CPU, GPU, NPU and FPGA on one board. The X100 chip is the robot's "brain," while dedicated FPGAs control the joints, motion, and sensors in real time, something AMD has long done well. AMD claims the Kria/X100 robot module beats NVIDIA's Jetson Thor T5000 by up to 3.4× on real-time reaction, 2.3× on concurrent agents, and 1.6× on CPU (AMD's own numbers). Here's Lisa Su meeting Generative Bionics' humanoid. AMD is both an investor in and tech partner to the Italian startup.

At Advancing AI 2026, AMD went after the humanoid "robot brain," directly challenging NVIDIA's Jetson Thor at the edge. Its new Kria AI Robotics Developer Platform is an open, turnkey system putting CPU, GPU, NPU and FPGA on one board. The X100 chip is the robot's "brain," while dedicated FPGAs control the joints, motion, and sensors in real time, something AMD has long done well. AMD claims the Kria/X100 robot module beats NVIDIA's Jetson Thor T5000 by up to 3.4× on real-time reaction, 2.3× on concurrent agents, and 1.6× on CPU (AMD's own numbers). Here's Lisa Su meeting Generative Bionics' humanoid. AMD is both an investor in and tech partner to the Italian startup.

The Humanoid Hub

37,885 次观看 • 2 个月前

Unitree Humanoid Robots Updated With Open-Source Full-Body Motion Dataset 🤗 We’ve adapted motion capture data for Unitree H1, H1-2, and G1 humanoid robots, using numerical optimization methods to make their movement trajectories more natural. Open-Source： #AI #OpenSourceDataset #Unitree #EmbodiedAI #Humanoid #DataCollection #AGI #Dance

Unitree Humanoid Robots Updated With Open-Source Full-Body Motion Dataset 🤗 We’ve adapted motion capture data for Unitree H1, H1-2, and G1 humanoid robots, using numerical optimization methods to make their movement trajectories more natural. Open-Source： #AI #OpenSourceDataset #Unitree #EmbodiedAI #Humanoid #DataCollection #AGI #Dance

Unitree

198,619 次观看 • 1 年前

SwissGL Demo: Particle Lenia with alien SOUNDS! Audio is fully rendered on GPU with GLSL shaders and streamed to WebAudio thanks to the new async GPU->CPU read feature. LIVE DEMO: Press "toggleAudio" in settings for sound 4K YouTube version: Source code:

SwissGL Demo: Particle Lenia with alien SOUNDS! Audio is fully rendered on GPU with GLSL shaders and streamed to WebAudio thanks to the new async GPU->CPU read feature. LIVE DEMO: Press "toggleAudio" in settings for sound 4K YouTube version: Source code:

Alex Mordvintsev

34,580 次观看 • 3 年前

Spatial optimization has applications in nearly every field but it's underutilized. In 2026, I'm working on open source and lightning-fast tools to make spatial optimization accessible. Shown: interactively solving a "location-allocation" problem in an app with instant results.

Spatial optimization has applications in nearly every field but it's underutilized. In 2026, I'm working on open source and lightning-fast tools to make spatial optimization accessible. Shown: interactively solving a "location-allocation" problem in an app with instant results.

Kyle Walker

28,495 次观看 • 9 个月前

Just updated #raylib animation system to support a more flexible and easy-to-use blending feature, with CPU or GPU skinning. Several code examples added! 🔥 Try it on web: Source code:

Just updated #raylib animation system to support a more flexible and easy-to-use blending feature, with CPU or GPU skinning. Several code examples added! 🔥 Try it on web: Source code:

Ray

17,202 次观看 • 7 个月前

HelixDB () makes RAG and AI retrieval easier to build and manage with an ultra-performant, open source graph-vector database. Congrats on the launch, Lam Sambert and Xav! Check it out on GitHub:

HelixDB () makes RAG and AI retrieval easier to build and manage with an ultra-performant, open source graph-vector database. Congrats on the launch, Lam Sambert and Xav! Check it out on GitHub:

Y Combinator

67,993 次观看 • 1 年前

Democrats Introduce Bill to Require Age Verification on Linux, Windows "Age Attestation on Computing Devices" (Colorado State Bill 26-051) would require age verification on all Operating Systems (both Open Source and proprietary), with fines for violations.

Democrats Introduce Bill to Require Age Verification on Linux, Windows "Age Attestation on Computing Devices" (Colorado State Bill 26-051) would require age verification on all Operating Systems (both Open Source and proprietary), with fines for violations.

The Lunduke Journal

349,226 次观看 • 7 个月前

X Square Robot has introduced TwinDEX: a co-designed pair of three-finger, 9-DoF dexterous hands, one wearable for data collection, one matched robot end effector for deployment. The wearable and the robot hand share the same kinematics, geometry, materials, look, and sensors, so human demos map straight to the robot without retargeting. Human data collection improves throughput 5.3x compared to teleoperation, and a policy can be trained with a few hundred episodes without any robot data.

X Square Robot has introduced TwinDEX: a co-designed pair of three-finger, 9-DoF dexterous hands, one wearable for data collection, one matched robot end effector for deployment. The wearable and the robot hand share the same kinematics, geometry, materials, look, and sensors, so human demos map straight to the robot without retargeting. Human data collection improves throughput 5.3x compared to teleoperation, and a policy can be trained with a few hundred episodes without any robot data.

The Humanoid Hub

277,022 次观看 • 1 个月前