MorphIK: Morphology-Conditioned Neural Inverse Kinematics for Unknown Robots
MorphIK is a flow-matching model that solves inverse kinematics for revolute-joint-based kinematic chains it has never seen during training, and allows learning and generalizing neural inverse kinematics for a multitude of known and unknown robots.
Lennart Clasmeier, Jan-Gerrit Habekost, C. Weber et al.
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