Composite Rigid Body Algorithm (CRBA) on G1
5.6SpeedupBARD
Evaluation Results
| Method | Links | |
|---|---|---|
| BARDBatch size=4096, Hardware=NVIDIA L40S2026.05 | 5.6 | |
| BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.05 | 5.5 | |
| Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.05 | 2 |