## Abstract

Inverse kinematic (IK) methods recover the parameters of the joints, given the desired position of selected elements in the kinematic chain. While the problem is well-defined and low-dimensional, it has to be solved rapidly, accounting for multiple possible solutions. In this work, we propose a neural IK method that employs the hierarchical structure of the problem to sequentially sample valid joint angles conditioned on the desired position and on the preceding joints along the chain. In our solution, a hypernetwork f recovers the parameters of multiple primary networks g_{1}, g_{2},..., g_{N}, where N is the number of joints, such that each gi outputs a distribution of possible joint angles, and is conditioned on the sampled values obtained from the previous primary networks g_{j}, j < i. The hypernetwork can be trained on readily available pairs of matching joint angles and positions, without observing multiple solutions. At test time, a high-variance joint distribution is presented, by sampling sequentially from the primary networks. We demonstrate the advantage of the proposed method both in comparison to other IK methods for isolated instances of IK and with regard to following the path of the end effector in Cartesian space.

Original language | English |
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Pages (from-to) | 1787-1797 |

Number of pages | 11 |

Journal | Proceedings of Machine Learning Research |

Volume | 162 |

State | Published - 2022 |

Externally published | Yes |

Event | 39th International Conference on Machine Learning, ICML 2022 - Baltimore, United States Duration: 17 Jul 2022 → 23 Jul 2022 |