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ResearchFormerly WizWand

Forward Kinematics (FK) on Go2

73SpeedupBARD (compiled)
0.219.13856.9May 29, 2026
Updated 5mo ago

Evaluation results

MethodLinks
BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.0573
BARD-cBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=true2026.0568
BARDBatch size=4096, Hardware=NVIDIA L40S2026.0538
BARDBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=false2026.0534
ADAMBatch size=4096, Hardware=NVIDIA L40S2026.0513
ADAMBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch2026.0511
Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.053.4
Pin. C++Batch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=C++2026.053