Rigid Body Dynamics on Go2 12 DOF
55FK FactorBARD-c
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| BARD-cBatch Size=4096, Hardware=NVIDIA A100 80GB PCIe, Baseline=Pinocchio (PyTorch), Compiler=torch.compile2026.05 | 55 | 59 | 4.3 | 4.9 | 4.9 | 4.1 | |
| BARD-cBatch size=4096, Device=NVIDIA L4, torch.compile=true2026.05 | 43 | 37 | 1.1 | 2.8 | 2.1 | 0.6 | |
| BARDBatch size=4096, Device=NVIDIA L4, torch.compile=false2026.05 | 35 | 25 | 3 | 2.8 | 4.2 | 4.3 | |
| BARDBatch Size=4096, Hardware=NVIDIA A100 80GB PCIe, Baseline=Pinocchio (PyTorch)2026.05 | 26 | 20 | 4.8 | 4.9 | 5.2 | 5.2 | |
| ADAMBatch size=4096, Device=NVIDIA L42026.05 | 13 | 4.2 | 0.7 | 0.6 | 1.1 | 1.2 | |
| ADAMBatch Size=4096, Hardware=NVIDIA A100 80GB PCIe, Baseline=Pinocchio (PyTorch)2026.05 | 8.6 | 2.7 | 0.4 | 0.7 | 0.9 | 0.8 | |
| Pin. C++Batch Size=4096, Hardware=NVIDIA A100 80GB PCIe, Baseline=Pinocchio (PyTorch)2026.05 | 3.8 | 1.9 | 1.9 | 2.7 | 1.3 | 2 | |
| Pinocchio C++Batch size=4096, Device=NVIDIA L42026.05 | 3.4 | 1.8 | 1.8 | 2.3 | 1.3 | 1.8 |