BARD is a self-contained PyTorch implementation of Featherstone's rigid body dynamics optimized for batched GPU evaluation and differentiation, reporting up to 64x throughput gains over Pinocchio on robot models with 7-23 DOFs.
arXiv preprint arXiv:2202.11217 (2022)
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning
BARD is a self-contained PyTorch implementation of Featherstone's rigid body dynamics optimized for batched GPU evaluation and differentiation, reporting up to 64x throughput gains over Pinocchio on robot models with 7-23 DOFs.