Rigid Body Dynamics on H1 19 DOF
33FK ScoreBARD-c
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| BARD-cBatch size=4096, Device=NVIDIA L4, torch.compile=true2026.05 | 33 | 26 | 1.6 | 3.7 | 3.4 | 1 | |
| BARDBatch size=4096, Device=NVIDIA L4, torch.compile=false2026.05 | 27 | 22 | 4.3 | 3.7 | 6.6 | 6.2 | |
| ADAMBatch size=4096, Device=NVIDIA L42026.05 | 8.6 | 3.2 | 1.2 | 1.1 | 2.1 | 1.7 | |
| Pinocchio C++Batch size=4096, Device=NVIDIA L42026.05 | 2.9 | 1.6 | 1.6 | 2.1 | 1.2 | 1.6 |