Recursive Newton-Euler Algorithm (RNEA) on Go2 12
6.9SpeedupBARD
Evaluation Results
| Method | Links | |
|---|---|---|
| BARDBatch size=4096, Hardware=NVIDIA L40S2026.05 | 6.9 | |
| BARDBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=false2026.05 | 5.7 | |
| BARD-cBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch, torch.compile=true2026.05 | 5.2 | |
| BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.05 | 3.2 | |
| Pin. C++Batch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=C++2026.05 | 1.9 | |
| Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.05 | 1.8 | |
| ADAMBatch size=4096, Hardware=NVIDIA L40S2026.05 | 0.7 | |
| ADAMBatch size=4096, Hardware=NVIDIA H100 80GB HBM3, Implementation=PyTorch2026.05 | 0.5 |