HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent

摘要

Inverse Kinematics (IK) is a core problem in robotics, in which joint configurations are found to achieve a desired end-effector pose. Although analytical solvers are fast and efficient, they are limited to systems with low degrees-of-freedom and specific topological structures. Numerical optimization-based approaches are more general, but suffer from high computational costs and frequent convergence to spurious local minima. Recent efforts have explored the use of GPUs to combine sampling and optimization to enhance both the accuracy and speed of IK solvers. We build on this recent literature and introduce HJCD-IK, a GPU-accelerated, sampling-based hybrid solver that combines an orientation-aware greedy coordinate descent initialization scheme with a Jacobian-based polishing routine. This design enables our solver to improve both convergence speed and overall accuracy as compared to the state-of-the-art, consistently finding solutions along the accuracy-latency Pareto frontier and often achieving order-of-magnitude gains. In addition, our method produces a broad distribution of high-quality samples, yielding the lowest maximum mean discrepancy. We release our code open-source for the benefit of the community.