Forward Kinematics (FK) on G1 23
54SpeedupBARD (compiled)
Evaluation Results
| Method | Links | |
|---|---|---|
| BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.05 | 54 | |
| BARD-cBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=true2026.05 | 50 | |
| BARDBatch size=4096, Hardware=NVIDIA L40S2026.05 | 28 | |
| BARDBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=false2026.05 | 24 | |
| Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.05 | 2.6 | |
| Pin. C++Batch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=C++2026.05 | 2.5 |