Rigid Body Dynamics on KUKA iiwa 7 DOF
21FKBARD-c
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| BARD-cBatch Size=4096, Hardware=NVIDIA A100 80GB PCIe, Baseline=Pinocchio (PyTorch), Compiler=torch.compile2026.05 | 21 | 21 | 2.9 | 3.3 | 4.3 | 5.5 | — | |
| BARD-cBatch size=4096, Device=NVIDIA L4, torch.compile=true2026.05 | 14 | 15 | 4.1 | 4.6 | 6.7 | 5.5 | — | |
| BARDBatch size=4096, Device=NVIDIA L4, torch.compile=false2026.05 | 12 | 8.8 | 4.1 | 4.6 | 6.8 | 6.4 | — | |
| BARDBatch Size=4096, Hardware=NVIDIA A100 80GB PCIe, Baseline=Pinocchio (PyTorch)2026.05 | 9.8 | 7.2 | 2.9 | 3.4 | 4.3 | 4.6 | — | |
| Pin. C++Batch Size=4096, Hardware=NVIDIA A100 80GB PCIe, Baseline=Pinocchio (PyTorch)2026.05 | 4.7 | 1.7 | 1.7 | 2.2 | 1.3 | 2.2 | — | |
| Pinocchio C++Batch size=4096, Device=NVIDIA L4, Implementation=C++2026.05 | 4.1 | 1.6 | 1.6 | 2 | 1.2 | 2 | — | |
| ADAMBatch size=4096, Device=NVIDIA L42026.05 | 3.3 | 1.1 | 1.4 | 0.9 | 2 | 1.2 | — | |
| ADAMBatch Size=4096, Hardware=NVIDIA A100 80GB PCIe, Baseline=Pinocchio (PyTorch)2026.05 | 2.3 | 0.7 | 0.9 | 1 | 1.5 | 0.8 | — | |
| ADAMBatch size=4096, Hardware=NVIDIA L40S2026.05 | — | — | — | — | — | — | 3.4 | |
| ADAMBatch size=4096, Hardware=NVIDIA L40S2026.05 | — | — | — | — | — | — | 2.4 | |
| BARDBatch size=4096, Hardware=NVIDIA L40S2026.05 | — | — | — | — | — | — | 14 | |
| BARDBatch size=4096, Hardware=NVIDIA L40S2026.05 | — | — | — | — | — | — | 7.2 | |
| BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.05 | — | — | — | — | — | — | 26 | |
| BARD (compiled)Batch size=4096, Hardware=NVIDIA L40S, Compilation=torch.compile2026.05 | — | — | — | — | — | — | 7.1 | |
| Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.05 | — | — | — | — | — | — | 4.3 | |
| Pinocchio C++Batch size=4096, Hardware=NVIDIA L40S, Language=C++2026.05 | — | — | — | — | — | — | 1.3 |