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Benchmarks
Rigid Body Dynamics on H1
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44
FK Speedup
BARD-c
1.672
12.661
23.65
34.639
May 29, 2026
FK Speedup
Jacobian Speedup
RNEA Speedup
CRBA Speedup
ABA Speedup
Full Dynamics Speedup
Updated 2d ago
Evaluation Results
Method
Method
Links
FK Speedup
Jacobian Speedup
RNEA Speedup
CRBA Speedup
ABA Speedup
Full Dynamics Speedup
BARD-c
Batch Size=4096, Hardw...
2026.05
44
45
5.1
4.3
5.9
5.7
BARD
Batch Size=4096, Hardw...
2026.05
20
17
5.2
4.3
6
6.1
ADAM
Batch Size=4096, Hardw...
2026.05
5.5
2
0.7
1.1
1.5
1.1
Pin. C++
Batch Size=4096, Hardw...
2026.05
3.3
1.7
1.7
2.5
1.3
1.8
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