{"id":"https://openalex.org/W7164903888","doi":"https://doi.org/10.48550/arxiv.2606.15148","title":"MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency","display_name":"MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency","publication_year":2026,"publication_date":"2026-06-13","ids":{"openalex":"https://openalex.org/W7164903888","doi":"https://doi.org/10.48550/arxiv.2606.15148"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.15148","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15148","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.15148","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100404947","display_name":"Jie Yang","orcid":"https://orcid.org/0000-0003-4801-7162"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Jiahao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026629677","display_name":"Shenhao Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Shenhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138714396","display_name":"Fan Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Fan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003520287","display_name":"Chengsi Yao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yao, Chengsi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138691614","display_name":"Ge Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Ge","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116293230","display_name":"Zhixin Mai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mai, Zhixin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138710258","display_name":"Yiming Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Yiming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138734729","display_name":"Yatong Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Yatong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.32179999351501465,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.32179999351501465,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.24449999630451202,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.10980000346899033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.597100019454956},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5777999758720398},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5296000242233276},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46059998869895935},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37560001015663147},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3725999891757965},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.35899999737739563},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.3393999934196472},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.33379998803138733}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.597100019454956},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5777999758720398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.571399986743927},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5296000242233276},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46059998869895935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43950000405311584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37560001015663147},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3725999891757965},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3612000048160553},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.35899999737739563},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3393999934196472},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.33379998803138733},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.32330000400543213},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3125},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.31220000982284546},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3075999915599823},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3052000105381012},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.29339998960494995},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2700999975204468},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.15148","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15148","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.15148","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15148","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Inverse":[0],"kinematics":[1,64],"(IK)":[2],"remains":[3,210],"a":[4,60,87,105,122,140,151,158,166,175],"critical":[5],"bottleneck":[6],"for":[7],"real-time":[8,47,61,220],"robot":[9,143],"manipulation.":[10],"Classical":[11],"numerical":[12],"solvers":[13],"achieve":[14],"high":[15],"geometric":[16],"precision":[17],"but":[18],"often":[19],"suffer":[20],"from":[21,74,130,192],"discontinuous":[22],"branch":[23],"switching":[24],"and":[25,46,69,86,165,185,215],"unstable":[26],"behavior":[27],"near":[28,212],"kinematic":[29],"singularities":[30],"during":[31,134],"closed-loop":[32],"deployment.":[33],"Meanwhile,":[34],"learned":[35],"IK":[36],"approaches":[37],"frequently":[38],"struggle":[39],"to":[40,195],"balance":[41],"spatial":[42,183],"accuracy,":[43],"motion":[44,72,186],"smoothness,":[45],"efficiency,":[48],"particularly":[49],"when":[50],"trained":[51],"on":[52,104,139,222],"noisy":[53],"human":[54],"teleoperation":[55,75,147],"data.":[56],"We":[57,136],"present":[58],"\\textbf{MimicIK},":[59],"generative":[62],"inverse":[63],"framework":[65],"that":[66,126,203],"learns":[67],"smooth":[68],"robust":[70,217],"joint-space":[71],"priors":[73],"demonstrations":[76],"through":[77],"conditional":[78],"flow":[79],"matching.":[80],"Given":[81],"the":[82,131],"current":[83],"joint":[84],"configuration":[85],"target":[88,132],"end-effector":[89],"pose,":[90],"MimicIK":[91,138,149,209],"predicts":[92],"continuous":[93],"delta-joint":[94],"commands":[95],"using":[96],"an":[97,118],"efficient":[98],"two-step":[99],"iterative":[100],"refinement":[101],"process":[102],"based":[103],"Minimal":[106],"Iterative":[107],"Policy":[108],"(MIP)":[109],"backbone.":[110],"To":[111],"enforce":[112],"physical":[113],"consistency,":[114],"we":[115],"further":[116],"introduce":[117],"FK":[119],"consistency":[120],"loss,":[121],"differentiable":[123],"forward-kinematics":[124],"regularization":[125],"penalizes":[127],"task-space":[128],"deviations":[129],"pose":[133],"training.":[135],"evaluate":[137],"real-world":[141],"6-DOF":[142],"dataset":[144],"containing":[145],"8,848":[146],"demonstrations.":[148],"achieves":[150],"mean":[152],"position":[153],"error":[154],"of":[155,163,170],"4.65":[156],"mm,":[157],"10":[159],"mm":[160],"success":[161],"rate":[162,169],"92.01\\%,":[164],"trajectory":[167],"spike":[168],"only":[171],"7.99\\%.":[172],"Compared":[173],"with":[174],"UNet":[176],"diffusion":[177],"baseline,":[178],"our":[179],"method":[180],"improves":[181],"both":[182],"accuracy":[184],"smoothness":[187],"while":[188],"reducing":[189],"inference":[190],"latency":[191],"21.66":[193],"ms":[194],"6.74":[196],"ms.":[197],"Furthermore,":[198],"unlike":[199],"deterministic":[200],"MLP":[201],"baselines":[202],"catastrophically":[204],"diverge":[205],"under":[206],"out-of-distribution":[207],"deployment,":[208],"stable":[211],"singular":[213],"configurations":[214],"enables":[216],"20":[218],"Hz":[219],"control":[221],"deployment":[223],"hardware.":[224]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-17T00:00:00"}