Rigid Body Dynamics on G1 23 DOF
31FK FactorBARD-c
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| BARD-cBatch size=4096, Device=NVIDIA L4, torch.compile=true2026.05 | 31 | 23 | 3.6 | 3.2 | 5.9 | 0.8 | |
| BARDBatch size=4096, Device=NVIDIA L4, torch.compile=false2026.05 | 26 | 21 | 3.6 | 3.2 | 5.9 | 5.1 | |
| Pinocchio C++Batch size=4096, Device=NVIDIA L42026.05 | 2.6 | 1.6 | 1.5 | 2 | 1.2 | 1.6 |