Jacobian Computation (Jac.) on Go2
90SpeedupBARD (compiled)
Evaluation results
| Method | Links | |
|---|---|---|
| BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.05 | 90 | |
| BARDBatch size=4096, Hardware=NVIDIA L40S2026.05 | 30 | |
| ADAMBatch size=4096, Hardware=NVIDIA L40S2026.05 | 4.2 | |
| Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.05 | 1.8 |