Articulated-Body Algorithm (ABA) on G1 23
9.7SpeedupBARD
Evaluation Results
| Method | Links | |
|---|---|---|
| BARDBatch size=4096, Hardware=NVIDIA L40S2026.05 | 9.7 | |
| BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.05 | 9.6 | |
| Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.05 | 1.2 |