fk consistency

MimicIK Framework Achieves Real-Time Inverse Kinematics with 4.65 mm Accuracy for Robotic Teleoperation

MimicIK, a new generative inverse kinematics framework, learns smooth joint-space motion priors from teleoperation demonstrations using conditional flow matching. It achieves a mean position error of 4.65 mm, a 92.01% success rate within 10 mm, and reduces inference latency to 6.74 ms, enabling robust 20 Hz real-time control. The framework introduces an FK consistency loss to enforce task-space accuracy.