# FWIK: Multi-Waypoint IK Selection via Lookahead Graph Search

- Source: arXiv cs.RO
- Published: 2026-11-05T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/aeuxakfr9nx30ofvlcz1twywv
- Original: https://arxiv.org/abs/2611.05897

## Summary

The paper proposes Future-Window Inverse Kinematics (FWIK), an online inverse kinematics selection method that considers several future waypoints, connects multiple IK candidates in a layered joint-space graph, ranks them with a motion-time estimate, and then uses a learned model to remove transition paths prone to self-collision.