Composite Rigid Body Algorithm (CRBA) on KUKA iiwa 7
5.4SpeedupBARD
Evaluation Results
| Method | Links | |
|---|---|---|
| BARDBatch size=4096, Hardware=NVIDIA L40S2026.05 | 5.4 | |
| BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.05 | 5.2 | |
| BARDBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=false2026.05 | 4.2 | |
| BARD-cBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=true2026.05 | 4.1 | |
| Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.05 | 2.1 | |
| Pin. C++Batch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=C++2026.05 | 2.1 | |
| ADAMBatch size=4096, Hardware=NVIDIA L40S2026.05 | 1.4 | |
| ADAMBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch2026.05 | 1.1 |