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Inverse Kinematics research benchmarks – Page 2 · SOTA2 Research

Inverse Kinematics

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

0.023MMD

4

Jul 8, 2026

27.3MPJPE

4

Feb 26, 2026

24.9L

4

Feb 26, 2026

Humanoid Stability Equality

Optimization IK with Analytic IK Change of Variables

96Success Rate

3

Feb 26, 2026

Humanoid Stability Inequality

Optimization IK with Analytic IK Change of Variables

97Success Rate

3

Feb 26, 2026

Humanoid Stability Equality

Interior Point (IPOPT)

1.61Mean Runtime

3

Feb 26, 2026

Humanoid Stability Inequality

Interior Point (IPOPT)

1.26Mean Runtime

3

Feb 26, 2026

Panda Manipulator 150,000 random IK problems (test)

5.96Position Error (mm)

3

Feb 26, 2026

Digital simulated manipulator

77.6Success Rate

2

Jun 5, 2026

Franka Arm 2000 random valid joint configurations Locking S. Angle

41.7Computation Time (Joint Angles, µs)

2

Mar 18, 2026

BMLhandball Challenging Dataset

0.06Key Point Position Error (m)

2

Feb 26, 2026

BMLhandball (Full Dataset)

0.059Key Point Position Error (m)

2

Feb 26, 2026

OOD deployment set

—

—Primary metric

0

Jun 16, 2026

Page 2 of 2

Popular datasets

AMASS Humanoid Stability Franka Arm Arm on a Table Mobile Manipulator

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