Inverse Kinematics on Universal Robots UR10
3.99Position Error Mean (mm)GraphDiff-IK
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GraphDiff-IK2026.05 | 3.99 | 0.41 | 17.44 | 1.05 | 0.08 | 5.09 | |
| GGIK2026.05 | 6.85 | 4.14 | 10.93 | 0.34 | 0.18 | 0.55 | |
| Transformer2026.05 | 29.3 | 1.62 | 410.62 | 2.8 | 0.18 | 21.03 | |
| IKNet2026.05 | 125 | 2.31 | 1,786.74 | — | — | — | |
| GNN2026.05 | 464.09 | 46.03 | 1,459.64 | 68.45 | 11.78 | 177.53 | |
| MLP2026.05 | 673.18 | 73.07 | 1,732.49 | 111.38 | 14.59 | 179.88 |