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PyRoki: A Modular Toolkit for Robot Kinematic Optimization

arXiv 2505.03728 ↗First posted 6 May 2025cs.ROcited by 30

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Abstract (arXiv)

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.

Key facts. Cited by 30 papers in the map (data through 14 Oct 2026). First posted on arXiv 6 May 2025.

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Citing papers per year: 2025: 6; 2026: 24.

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  1. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Controlcited by 101
  2. 2026CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulationcited by 88
  3. 2025NovaFlow: Zero-Shot Manipulation via Actionable Flow from Generated Videoscited by 40
  4. 2025Dream2Flow: Bridging Video Generation and Open-World Manipulation with 3D Object Flowcited by 25
  5. 2025DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusioncited by 15
  6. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 15
  7. 2026Do as I Do: Dexterous Manipulation Data from Everyday Human Videoscited by 13
  8. 2026FlowHOI: Flow-based Semantics-Grounded Generation of Hand-Object Interactions for Dexterous Robot Manipulationcited by 7
  9. 2026MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitivescited by 6
  10. 2026Choreographing a World of Dynamic Objectscited by 5
  11. 2026Learning Human-Like Badminton Skills for Humanoid Robotscited by 3
  12. 2026Robot-Factored World Models via Robot Renderingcited by 3
18 more
  1. 2025IKDiffuser: a Diffusion-based Generative Inverse Kinematics Solver for Kinematic Treescited by 2
  2. 2025OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordancecited by 2
  3. 2026Direct Dynamic Retargeting for Humanoid Imitation Learning from Videoscited by 2
  4. 2026Sequential Planning via Anchored Robotic Keypointscited by 2
  5. 2026PDF-HR: Pose Distance Fields for Humanoid Robotscited by 1
  6. 2026DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priorscited by 1
  7. 2026A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulationcited by 1
  8. 2026SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulationcited by 1
  9. 2026HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policiescited by 0
  10. 2026RoSHI: A Versatile Robot-oriented Suit for Human Data In-the-Wildcited by 0
  11. 2026Constrained Whole-Body Tracking for Humanoid Robotscited by 0
  12. 2026EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robotscited by 0
  13. 2026HuRo: Robotizing Human Videos for Scalable VLA Pretrainingcited by 0
  14. 2026X-Reset: Scaling Object-Centric Reinforcement Learning via Cross-Embodiment Resetscited by 0
  15. 2026World Motion Models: Flexible Sequence Modeling of SE(3) Trajectoriescited by 0
  16. 2026Fly-by-Code: Embodied Coding Agents for Aerial Manipulation with Active Visual and Physical Feedbackcited by 0
  17. 2026RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Taskscited by 0
  18. 2026DexMimic: A Generalist Dexterous Hand-Object Tracking Policy via Value-Guided Reset Allocationcited by 0