PyRoki: Modular GPU-Accelerated Robot Kinematic Optimization in Pure Python

Loading video

Loading video

PyRoki is a modular, extensible toolkit for robot kinematic optimization written in pure Python: it couples an interface for declaring kinematic variables and costs with an efficient nonlinear least squares optimizer, so inverse kinematics, trajectory optimization and motion retargeting are all the same object. It runs natively on CPU, GPU and TPU, and in the paper benchmarking it is 1.4-1.7x faster than cuRobo while converging to lower errors.