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PolicyIK: RL Replaces Classical Inverse Kinematics

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PolicyIK learns a goal-conditioned policy that maps end-effector pose errors to joint updates, outperforming four classical IK controllers in reaching and holding.

PolicyIKReinforcement LearningInverse KinematicsRobotic ArmEnd-Effector Control
Category: arm
Author: @Alacritic_Super
Date: 2026-11-07T00:00:00
Duration: 46.633s
Source: https://x.com/Alacritic_Super/status/2119013728930713998
Reference: https://arxiv.org/abs/2611.05372

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