Articulated Body Algorithm (ABA) on KUKA iiwa 7
5.7SpeedupBARD
Evaluation Results
| Method | Links | |
|---|---|---|
| BARDBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=false2026.05 | 5.7 | |
| BARD-cBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=true2026.05 | 5.6 | |
| ADAMBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch2026.05 | 2 | |
| Pin. C++Batch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=C++2026.05 | 1.2 |