Inverse Kinematics on Franka Emika Panda
3.47Position Error Mean (mm)GraphDiff-IK
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GraphDiff-IK2026.05 | 3.47 | 0.18 | 12.4 | 0.87 | 0.1 | 4.26 | |
| GGIK2026.05 | 6.17 | 2.28 | 12.8 | 0.59 | 0.21 | 1.15 | |
| Transformer2026.05 | 29.84 | 2.92 | 146.25 | 6.47 | 0.73 | 22.55 | |
| IKNet2026.05 | 36.17 | 0.18 | 570.6 | — | — | — | |
| GNN2026.05 | 339.25 | 44.28 | 900.38 | 72.47 | 12.07 | 177.31 | |
| MLP2026.05 | 496.54 | 23.5 | 1,458.82 | 90.76 | 12.14 | 179.9 |