Rigid Body Dynamics on SPARC 11 DOF
23FKBARD
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| BARDBatch size=4096, Device=NVIDIA L4, torch.compile=false2026.05 | 23 | 16 | 6.1 | 5.9 | 8.3 | 7.9 | |
| BARD-cBatch size=4096, Device=NVIDIA L4, torch.compile=true2026.05 | 21 | 16 | 6.1 | 5.8 | 8.2 | 7.8 | |
| ADAMBatch size=4096, Device=NVIDIA L42026.05 | 7.2 | 2.4 | 1.6 | 1.3 | 2.4 | 1.7 | |
| Pinocchio C++Batch size=4096, Device=NVIDIA L42026.05 | 4.4 | 1.9 | 1.9 | 2.3 | 1.3 | 1.9 |