J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators

arXiv:2505.00306 · cs.RO · Submitted 2025-05-01 · Read on arXiv

cs.RO

Submitted: 2025-05-01

Updated: 2026-09-22

Code: https://github.com/moveit/moveit

Project page: https://jparse-manip.github.io

Terminology

• Accuracy — 9× in this paper · explained in 1 episode
• Ablation — 7× in this paper · explained in 1 episode
• Damped Least Squares — 4× in this paper
• Human-in-the-Loop — 3× in this paper · explained in 3 episodes
• Jacobian-based Projection Algorithm for Resolving Singularities Effectively — 2× in this paper
• Lyapunov function — 2× in this paper · explained in 2 episodes
• Redundancy — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Angular Error — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Exponential Damped Least Squares — 1× in this paper
• Frustration — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Mean Squared Error — 1× in this paper
• Robot Operating System — 1× in this paper

Sources

• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• OpenVLA: An Open-Source Vision-Language-Action Model
• What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
• Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics
• Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning

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