{
  "cells": [
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5173375172889969,
      "observed_lower": 0.4856836439554787,
      "observed_upper": 0.5215508392513816,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.48800740005551674,
      "observed_lower": 0.4440043407763105,
      "observed_upper": 0.4903550272686548,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.6457652515998888,
      "observed_lower": 1.5657086815859313,
      "observed_upper": 1.7267709940418408,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.6894202954931798,
      "observed_lower": 1.6153088756169331,
      "observed_upper": 1.707386424348788,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.7407085108105371,
      "observed_lower": 1.6681225343698973,
      "observed_upper": 1.919055308307865,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.662889595892588,
      "observed_lower": 1.627875722413138,
      "observed_upper": 1.6693348968014832,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.8433197650045778,
      "observed_lower": 1.8257117357891035,
      "observed_upper": 1.9194435938504792,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.788187707210307,
      "observed_lower": 1.7231093600693608,
      "observed_upper": 1.8027004448552753,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.7392380116432653,
      "observed_lower": 1.7078917500588155,
      "observed_upper": 1.8490056153144452,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.7385960638645617,
      "observed_lower": 1.7044110673275976,
      "observed_upper": 1.8013854220601149,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.5979963783139812,
      "observed_lower": 1.5433718114816464,
      "observed_upper": 1.660242913855155,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.5382898471125417,
      "observed_lower": 1.5225772717912287,
      "observed_upper": 1.6044503717012506,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.22037895412597347,
      "observed_lower": 0.2006997992019535,
      "observed_upper": 0.22538514947125843,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.20788471130712963,
      "observed_lower": 0.1834765966439872,
      "observed_upper": 0.2119040614977517,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.689761123910463,
      "observed_lower": 0.6392675017209638,
      "observed_upper": 0.727631670337687,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.7080575073776221,
      "observed_lower": 0.6595189012922787,
      "observed_upper": 0.7194633452539316,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.4991128905935562,
      "observed_lower": 0.45930225156676235,
      "observed_upper": 0.550200861068582,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.4767998937153677,
      "observed_lower": 0.4482206607547863,
      "observed_upper": 0.47860501657030036,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5986150507505941,
      "observed_lower": 0.5426533546103928,
      "observed_upper": 0.6243620440558796,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5807110059933784,
      "observed_lower": 0.5121570159585248,
      "observed_upper": 0.586387502178384,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5153235985800071,
      "observed_lower": 0.4771579927637481,
      "observed_upper": 0.554860580890267,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5151333941127592,
      "observed_lower": 0.47618554495760457,
      "observed_upper": 0.5405704306211933,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.45781032329912585,
      "observed_lower": 0.41186617372784995,
      "observed_upper": 0.4836341531439712,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.44070498643895084,
      "observed_lower": 0.4063169162948649,
      "observed_upper": 0.46738160440476484,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.3728595136999207,
      "observed_lower": 0.3721652372264646,
      "observed_upper": 0.37373512079427723,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.4271140577099965,
      "observed_lower": 0.4210173596606987,
      "observed_upper": 0.4317620634060373,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 8.357550939048853,
      "observed_lower": 8.283253628994212,
      "observed_upper": 10.014734306067513,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 6.9676800673166115,
      "observed_lower": 5.5750392610062445,
      "observed_upper": 8.596676936414239,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 4.964535267601878,
      "observed_lower": 4.87896464796613,
      "observed_upper": 4.971997600967867,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 5.302135167059714,
      "observed_lower": 5.261300447619681,
      "observed_upper": 5.30958006251034,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 1.638042515248895,
      "observed_lower": 1.6297845955917498,
      "observed_upper": 1.6406102109755807,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 54.38611983930567,
      "observed_lower": 54.06606089435455,
      "observed_upper": 54.51420271684748,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 66.11681869383146,
      "observed_lower": 65.69037315083982,
      "observed_upper": 66.6155796466991,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 6.338952001028501,
      "observed_lower": 5.793157388988711,
      "observed_upper": 7.009967479014026,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 6.3648232148388715,
      "observed_lower": 4.349885679741214,
      "observed_upper": 7.410903247119349,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.4274323140486997,
      "observed_lower": 0.42283675677486354,
      "observed_upper": 0.45047068545654856,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.4367159435126987,
      "observed_lower": 0.4289102972600333,
      "observed_upper": 0.44821222945230826,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 12.771776540502916,
      "observed_lower": 11.034048427695225,
      "observed_upper": 13.546783344713251,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 10.165670774836734,
      "observed_lower": 6.924048476286162,
      "observed_upper": 13.177499906211269,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 5.077024924511315,
      "observed_lower": 5.043500316013372,
      "observed_upper": 5.097805649451123,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 5.649821913232804,
      "observed_lower": 5.634865574347089,
      "observed_upper": 5.680653973574899,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 3.28058677606238,
      "observed_lower": 3.2380023898280417,
      "observed_upper": 3.2978749202162567,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 55.308967324560115,
      "observed_lower": 54.42297146538566,
      "observed_upper": 56.28070272574968,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 68.56462611314714,
      "observed_lower": 67.34564035222866,
      "observed_upper": 69.74137959476877,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 6.242916476490067,
      "observed_lower": 5.952764970057213,
      "observed_upper": 6.675126871288099,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 3.522824487849162,
      "observed_lower": 3.4565512509529164,
      "observed_upper": 9.537763807588542,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.4511051746450293,
      "observed_lower": 0.44764940593309577,
      "observed_upper": 0.4645341799223866,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.49739578771629395,
      "observed_lower": 0.4929412725439784,
      "observed_upper": 0.5070345681674148,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 9.871536628343678,
      "observed_lower": 8.658367309951643,
      "observed_upper": 11.57835729907278,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 8.152762112277594,
      "observed_lower": 5.473293412441795,
      "observed_upper": 11.92056307090415,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 5.425395182535706,
      "observed_lower": 5.389737792707862,
      "observed_upper": 5.454729311766027,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 6.038941111686267,
      "observed_lower": 6.023331780106158,
      "observed_upper": 6.057522503730275,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 6.701347382031247,
      "observed_lower": 6.6950671111945965,
      "observed_upper": 6.75223026922391,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 55.99799117081704,
      "observed_lower": 54.21946888372646,
      "observed_upper": 56.228479244593046,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 69.70989666265113,
      "observed_lower": 67.29877498513838,
      "observed_upper": 70.46888425203429,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 7.311643757022575,
      "observed_lower": 6.0170469127135675,
      "observed_upper": 8.234325030749549,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 6.394334576173968,
      "observed_lower": 6.034512891513432,
      "observed_upper": 9.535413952396006,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5039301152097875,
      "observed_lower": 0.4936886060250954,
      "observed_upper": 0.5387214199539845,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.574793924852844,
      "observed_lower": 0.5732601961043036,
      "observed_upper": 0.5804655800100653,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 12.07466622261318,
      "observed_lower": 10.198718198451669,
      "observed_upper": 13.597987062851795,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 8.722877404188395,
      "observed_lower": 7.653118416066928,
      "observed_upper": 10.697760837668463,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 5.905178119187879,
      "observed_lower": 5.865742300123372,
      "observed_upper": 5.914031998819889,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 6.727964901620576,
      "observed_lower": 6.7073552322245416,
      "observed_upper": 6.74681548672265,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 13.853302724460962,
      "observed_lower": 13.763124324471534,
      "observed_upper": 13.892913989472879,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 56.090619949447635,
      "observed_lower": 55.38933582194297,
      "observed_upper": 56.594687867923696,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 71.23596087670843,
      "observed_lower": 70.29058927182274,
      "observed_upper": 72.06753582787678,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 5.62634519952621,
      "observed_lower": 5.60500179728966,
      "observed_upper": 6.474403609730588,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 5.516655559981804,
      "observed_lower": 4.619830740336524,
      "observed_upper": 5.900269747415955,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5494871785785687,
      "observed_lower": 0.5413683138414515,
      "observed_upper": 0.6090135167832661,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.7368183968054094,
      "observed_lower": 0.7325406888599638,
      "observed_upper": 0.7415840822205755,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 13.4308113287165,
      "observed_lower": 10.112465921267797,
      "observed_upper": 13.863563786729507,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 11.830681031708016,
      "observed_lower": 7.5227809090744895,
      "observed_upper": 14.55650070963658,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 6.080520430896904,
      "observed_lower": 6.06060739594212,
      "observed_upper": 6.1112975361569175,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 7.495557133900299,
      "observed_lower": 7.477646092286382,
      "observed_upper": 7.592599317954539,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 26.72290778849316,
      "observed_lower": 26.528205185979406,
      "observed_upper": 26.839552312198297,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 53.39134189089039,
      "observed_lower": 52.922258369392694,
      "observed_upper": 54.01728757406618,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 72.85388436161298,
      "observed_lower": 72.61793224494554,
      "observed_upper": 73.82165320600572,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 6.262654458521505,
      "observed_lower": 6.11883103996021,
      "observed_upper": 6.721483521925528,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 6.068317828760958,
      "observed_lower": 3.7899782656813916,
      "observed_upper": 7.17872923343127,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.620777240521694,
      "observed_lower": 0.6165589140223114,
      "observed_upper": 0.6333291522549359,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 2.207525611676638,
      "observed_lower": 1.0071514149690357,
      "observed_upper": 2.983916235124089,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 8.582649447138417,
      "observed_lower": 8.354323921461814,
      "observed_upper": 9.174825601537725,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 6.861074160496627,
      "observed_lower": 6.587458457282584,
      "observed_upper": 7.5582096023725365,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 3.4769395057164347,
      "observed_lower": 3.4609876968443762,
      "observed_upper": 3.5036275656022413,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 4.310284375496764,
      "observed_lower": 4.306420518160309,
      "observed_upper": 4.3201862611965245,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 77.90154322475529,
      "observed_lower": 77.06982798799282,
      "observed_upper": 79.21165848561772,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 27.40274885769032,
      "observed_lower": 27.176069800674423,
      "observed_upper": 27.669237640612046,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 38.489852154448165,
      "observed_lower": 38.26312107735246,
      "observed_upper": 39.18301251468091,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 3.7966088609328437,
      "observed_lower": 3.548971964533818,
      "observed_upper": 4.417973326109803,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 2.9172422546805974,
      "observed_lower": 2.4532753625919033,
      "observed_upper": 4.382856568826979,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.08039159903052388,
      "observed_lower": 0.07807474402870844,
      "observed_upper": 0.08234846300383612,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.09208932803403316,
      "observed_lower": 0.08832319437494818,
      "observed_upper": 0.09513406775710344,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 1.8019571964306207,
      "observed_lower": 1.7377036921238966,
      "observed_upper": 2.206637620097804,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 3.2055301486599515,
      "observed_lower": 2.3423463478462296,
      "observed_upper": 3.974154246974321,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 1.0703949180364702,
      "observed_lower": 1.0235343818081508,
      "observed_upper": 1.0955255145096168,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.4392845202528983,
      "observed_lower": 2.210529345434486,
      "observed_upper": 2.454563584411854,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 0.35317553191581064,
      "observed_lower": 0.341904622986936,
      "observed_upper": 0.3614905898463988,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 11.726097841950844,
      "observed_lower": 11.342257262998144,
      "observed_upper": 12.011610779504448,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 30.417506775419813,
      "observed_lower": 27.599734895993105,
      "observed_upper": 30.795688930240452,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.366730548145669,
      "observed_lower": 1.2153184527228909,
      "observed_upper": 1.5445699788044116,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 2.928181619842113,
      "observed_lower": 1.827599476609145,
      "observed_upper": 3.4259834156033673,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.09654536581456068,
      "observed_lower": 0.09364762165842527,
      "observed_upper": 0.10338770702917584,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.09864228589577499,
      "observed_lower": 0.09499275689647921,
      "observed_upper": 0.10286936788915381,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.88479789121463,
      "observed_lower": 2.4437619860652857,
      "observed_upper": 3.109127658798629,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 5.1211422766394685,
      "observed_lower": 3.304184306522086,
      "observed_upper": 7.085153274886676,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 1.146762218194716,
      "observed_lower": 1.1170074546751092,
      "observed_upper": 1.1699994117108168,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.8462009537983772,
      "observed_lower": 2.6889809428523317,
      "observed_upper": 3.0543201966103606,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 0.7409955681199772,
      "observed_lower": 0.717135437904105,
      "observed_upper": 0.7568965907839817,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 12.49279548519779,
      "observed_lower": 12.05330842141368,
      "observed_upper": 12.91700657260018,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 34.54068238558076,
      "observed_lower": 32.13761554769882,
      "observed_upper": 37.497884086349444,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.4101054954488303,
      "observed_lower": 1.3183865234172678,
      "observed_upper": 1.5320110356390353,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.7746871620672637,
      "observed_lower": 1.6494804213464742,
      "observed_upper": 5.128174460815522,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.09201933602285836,
      "observed_lower": 0.08230872556523268,
      "observed_upper": 0.10143740241016894,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10146199311997699,
      "observed_lower": 0.09063648333683448,
      "observed_upper": 0.11071794444847413,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.013659556843482,
      "observed_lower": 1.5920029588161757,
      "observed_upper": 2.528292942385836,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 4.367969180129356,
      "observed_lower": 2.930450111290027,
      "observed_upper": 6.4515466339720655,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 1.106707017385466,
      "observed_lower": 0.9910042166231687,
      "observed_upper": 1.1911148762586228,
      "result": "overlap"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 3.23545668243381,
      "observed_lower": 3.2249455593271747,
      "observed_upper": 3.2784012539255776,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 1.3669839567641286,
      "observed_lower": 1.2310134542622206,
      "observed_upper": 1.4744419863783231,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 11.422830541031233,
      "observed_lower": 9.96926461980003,
      "observed_upper": 12.278258786035021,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 37.348162006826726,
      "observed_lower": 36.032364388975374,
      "observed_upper": 38.138575358546035,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.491476138100888,
      "observed_lower": 1.1063467447685855,
      "observed_upper": 1.798077682593396,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 3.4258642618925474,
      "observed_lower": 3.2309320261029755,
      "observed_upper": 5.160676339045174,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.11185676040993921,
      "observed_lower": 0.10209316794845626,
      "observed_upper": 0.12171852040427755,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.1275863148416664,
      "observed_lower": 0.11854830912598907,
      "observed_upper": 0.13115018064525982,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.6801991108043937,
      "observed_lower": 2.1090611312195766,
      "observed_upper": 3.07232421890372,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 4.626467948874949,
      "observed_lower": 4.034117531645142,
      "observed_upper": 5.703661461513033,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 1.3107652710555548,
      "observed_lower": 1.2130160722372807,
      "observed_upper": 1.3362142247497706,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 3.5683997993090357,
      "observed_lower": 3.5355861313321366,
      "observed_upper": 3.5971594489250323,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 3.0750009117658927,
      "observed_lower": 2.8461685078515466,
      "observed_upper": 3.138959900734908,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 12.45036731793334,
      "observed_lower": 11.454331122107398,
      "observed_upper": 12.786983058171309,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 37.782359482107815,
      "observed_lower": 37.05162824814291,
      "observed_upper": 38.42381905569476,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.2488730638870769,
      "observed_lower": 1.1590958001834144,
      "observed_upper": 1.4628243813729063,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 2.9259416303367516,
      "observed_lower": 2.4352086521617653,
      "observed_upper": 3.145811696628114,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.1294777744362735,
      "observed_lower": 0.07560030605204254,
      "observed_upper": 0.14341480430904366,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.17361934891521116,
      "observed_lower": 0.1022969000169566,
      "observed_upper": 0.1746334573855026,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.164753660338685,
      "observed_lower": 1.4121726356016353,
      "observed_upper": 3.2646899169026584,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 6.166931616800962,
      "observed_lower": 3.424406551721271,
      "observed_upper": 7.702519293916701,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 1.4327763840521541,
      "observed_lower": 0.84634390724368,
      "observed_upper": 1.4391315070502675,
      "result": "overlap"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 3.9071789824016774,
      "observed_lower": 3.403860963036973,
      "observed_upper": 4.017596255040042,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 6.296821403313455,
      "observed_lower": 3.704576680597491,
      "observed_upper": 6.320367342464251,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 12.580806962741914,
      "observed_lower": 7.390419474869927,
      "observed_upper": 12.720372394455365,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 37.97625188881694,
      "observed_lower": 33.05603685095709,
      "observed_upper": 39.06245872345256,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.4756933245473838,
      "observed_lower": 0.8544746478036491,
      "observed_upper": 1.5828224126369637,
      "result": "overlap"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 3.1632076782971223,
      "observed_lower": 1.7252165868907758,
      "observed_upper": 3.7985984083181963,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.20248094128900054,
      "observed_lower": 0.12492776831847405,
      "observed_upper": 0.20898295021309646,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.7200358431250218,
      "observed_lower": 0.20407000169706715,
      "observed_upper": 0.9846185285877588,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.7994308189354054,
      "observed_lower": 1.6927612586266154,
      "observed_upper": 3.0274654420584626,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 4.424045425622864,
      "observed_lower": 2.5547936987215905,
      "observed_upper": 5.062548682008667,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 1.1340847214867782,
      "observed_lower": 0.7012687016780638,
      "observed_upper": 1.1561104087827485,
      "result": "overlap"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.779286949606428,
      "observed_lower": 1.6701457891819182,
      "observed_upper": 2.893694990383307,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 25.409400941887434,
      "observed_lower": 15.615963691800907,
      "observed_upper": 26.13788742024173,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 8.938044149215742,
      "observed_lower": 5.506441760312423,
      "observed_upper": 9.130163820336435,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 24.818395833293433,
      "observed_lower": 14.839468249514601,
      "observed_upper": 26.245092263789495,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.2383523197818938,
      "observed_lower": 0.7190961597840047,
      "observed_upper": 1.4578218867170383,
      "result": "overlap"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.881048353413986,
      "observed_lower": 0.9514462183286686,
      "observed_upper": 2.9356720590261296,
      "result": "overlap"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.210627668191472,
      "observed_lower": 0.20704249404538919,
      "observed_upper": 0.21391533747776814,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.2277986728257108,
      "observed_lower": 0.2204225442966865,
      "observed_upper": 0.2549881413580917,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 10.082604210133828,
      "observed_lower": 8.845053748312598,
      "observed_upper": 11.045711692306922,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 8.624087733470242,
      "observed_lower": 6.1004415531366964,
      "observed_upper": 9.728509228733277,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.29427426953644586,
      "observed_lower": 0.28932034635785653,
      "observed_upper": 1.319285663610653,
      "result": "overlap"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.31539664814002977,
      "observed_lower": 0.3122685790508444,
      "observed_upper": 0.5104271734043352,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 12.810279150768704,
      "observed_lower": 12.061033022458941,
      "observed_upper": 13.442375780260122,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 12.75910653062732,
      "observed_lower": 11.916509946260296,
      "observed_upper": 13.170846586734733,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.32580984297371307,
      "observed_lower": 0.31124550931390343,
      "observed_upper": 0.39057765175168646,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.36113736590489337,
      "observed_lower": 0.35242837163785906,
      "observed_upper": 0.3628557428279293,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 12.081757207270572,
      "observed_lower": 11.621711269781342,
      "observed_upper": 12.792256523710936,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 13.527940353430052,
      "observed_lower": 11.331987858276243,
      "observed_upper": 14.036430360932627,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5439259913411592,
      "observed_lower": 0.4263379460384734,
      "observed_upper": 1.4933481896332235,
      "result": "overlap"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.7240950319928638,
      "observed_lower": 1.1646274674736203,
      "observed_upper": 1.8140005226780664,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 14.799808965989747,
      "observed_lower": 13.648415414058352,
      "observed_upper": 15.199693706428855,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 18.87753184729739,
      "observed_lower": 18.577332097871533,
      "observed_upper": 19.210210673495133,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.1632838744965543,
      "observed_lower": 1.1528334594163556,
      "observed_upper": 1.3078407043715436,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.1187191748213405,
      "observed_lower": 1.0961155802414668,
      "observed_upper": 1.4218206136023892,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 11.558966349173936,
      "observed_lower": 10.653655666076938,
      "observed_upper": 11.58555503193939,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 16.219091146650072,
      "observed_lower": 15.699513994649632,
      "observed_upper": 17.185575393908398,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.7237037559155531,
      "observed_lower": 0.7129544006324535,
      "observed_upper": 0.7349430189490277,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.8573636690372798,
      "observed_lower": 0.8450022347031899,
      "observed_upper": 0.8819047632018796,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 7.502223115927774,
      "observed_lower": 7.253147245689557,
      "observed_upper": 7.537741103416701,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 11.949122284440053,
      "observed_lower": 11.86021630244395,
      "observed_upper": 12.258725022596046,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.08375059299098896,
      "observed_lower": 0.07915816478705916,
      "observed_upper": 0.08560833214303201,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.09057819466704808,
      "observed_lower": 0.08427373406927198,
      "observed_upper": 0.10204555575724708,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 4.009084318041837,
      "observed_lower": 3.3817126546293954,
      "observed_upper": 4.420463564981441,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 5.602181259833538,
      "observed_lower": 3.315600913759223,
      "observed_upper": 8.258821895443502,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.10810072483713538,
      "observed_lower": 0.09209317528641826,
      "observed_upper": 0.5390669135061565,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.11585996400177132,
      "observed_lower": 0.09939779676400642,
      "observed_upper": 0.2085631706052937,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 4.7058156451990865,
      "observed_lower": 3.8391314066060604,
      "observed_upper": 5.492623941825289,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 11.484597609719,
      "observed_lower": 4.100578707974309,
      "observed_upper": 12.565804554782293,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.09625812051991821,
      "observed_lower": 0.0848439635345452,
      "observed_upper": 0.13673237284545522,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10669537719989546,
      "observed_lower": 0.09607020508567367,
      "observed_upper": 0.12702756159998038,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.5694662590156048,
      "observed_lower": 3.1680201566792365,
      "observed_upper": 4.478278725600941,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 11.802062329761743,
      "observed_lower": 5.493433107796565,
      "observed_upper": 12.555718206491733,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.1643508599296933,
      "observed_lower": 0.093835172177821,
      "observed_upper": 0.48886494697172245,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5209467935331914,
      "observed_lower": 0.25632956190942696,
      "observed_upper": 0.5938342279997636,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 4.47186082128218,
      "observed_lower": 3.0039582970102763,
      "observed_upper": 4.975797010611953,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 7.54446102658663,
      "observed_lower": 6.845277077173285,
      "observed_upper": 10.862426073284134,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.34604155667015546,
      "observed_lower": 0.2604275532115674,
      "observed_upper": 0.4120407734446651,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.33278491451578623,
      "observed_lower": 0.2476148625525509,
      "observed_upper": 0.4479506283678593,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.438440776716827,
      "observed_lower": 2.4066836846317905,
      "observed_upper": 3.6500783621350523,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 6.455214753026449,
      "observed_lower": 6.251663036036758,
      "observed_upper": 10.187885924422442,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.309157747417439,
      "observed_lower": 0.27571319024415664,
      "observed_upper": 0.3358816537359993,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.36625569298281385,
      "observed_lower": 0.32677862944219965,
      "observed_upper": 0.40304570921088834,
      "result": "range_loss"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.2048616304458024,
      "observed_lower": 2.8049316543185605,
      "observed_upper": 3.444877877566466,
      "result": "range_win"
    },
    {
      "robot": "g1",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 7.609727346908331,
      "observed_lower": 6.5675478058779095,
      "observed_upper": 9.249101798089741,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5391801497275484,
      "observed_lower": 0.17516498925579102,
      "observed_upper": 0.6110656028613185,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5352149311457047,
      "observed_lower": 0.1607974951091606,
      "observed_upper": 0.6716610405168324,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.7328209374710416,
      "observed_lower": 0.6866501846020304,
      "observed_upper": 0.7412987001868137,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.6168135974500178,
      "observed_lower": 0.4643989031581399,
      "observed_upper": 0.6889072968292602,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.6214320528482982,
      "observed_lower": 0.5619920413315543,
      "observed_upper": 0.6307577659910246,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.6290209225464181,
      "observed_lower": 0.5687991141676435,
      "observed_upper": 0.6564977391542961,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.6059389731526277,
      "observed_lower": 0.5948993698313562,
      "observed_upper": 0.6378136796719635,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5731761084206521,
      "observed_lower": 0.5687318646229017,
      "observed_upper": 0.5867625876789896,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.9009110506984035,
      "observed_lower": 1.8441637744021058,
      "observed_upper": 2.0728642491221816,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 2.03619426152462,
      "observed_lower": 1.928989069177545,
      "observed_upper": 2.0642885243588665,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.8050481497682376,
      "observed_lower": 1.668337853748053,
      "observed_upper": 1.8238929756677482,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.6125189193124123,
      "observed_lower": 1.5913761228343883,
      "observed_upper": 1.8018206523528586,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.2058711640216349,
      "observed_lower": 0.06480387076393794,
      "observed_upper": 0.30352363960479983,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.20435715397238358,
      "observed_lower": 0.059488486463481385,
      "observed_upper": 0.333622122802882,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.2792158453394759,
      "observed_lower": 0.21028530270955675,
      "observed_upper": 0.2871127734212538,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.2350152966742924,
      "observed_lower": 0.1422212738283837,
      "observed_upper": 0.26682103256479744,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.17866421304677624,
      "observed_lower": 0.16001303834349462,
      "observed_upper": 0.2007251931269236,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.18084604358852993,
      "observed_lower": 0.1619511803928862,
      "observed_upper": 0.2089163900694802,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.20010055475967825,
      "observed_lower": 0.1910947839437322,
      "observed_upper": 0.21729713326965083,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.18928120215346578,
      "observed_lower": 0.1826892047689322,
      "observed_upper": 0.19990450546326094,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.4444779493586845,
      "observed_lower": 0.41600174443035665,
      "observed_upper": 0.5395985163462099,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.47611036272626583,
      "observed_lower": 0.435136417331001,
      "observed_upper": 0.5373661229992563,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5823560949859122,
      "observed_lower": 0.5036388989647909,
      "observed_upper": 0.604632516324074,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5202410922180951,
      "observed_lower": 0.48040564238387523,
      "observed_upper": 0.5973153959858511,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.21447809916435526,
      "observed_lower": 0.19185714995543846,
      "observed_upper": 0.21515723706964993,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.43515994210410147,
      "observed_lower": 0.3941027387451153,
      "observed_upper": 0.45068983359119774,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 14.588646777917862,
      "observed_lower": 10.334150516269093,
      "observed_upper": 16.610906119954766,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 7.5543461485838925,
      "observed_lower": 6.210256691655162,
      "observed_upper": 13.01766021673649,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 4.575509759664535,
      "observed_lower": 4.145244446695466,
      "observed_upper": 4.617633967194844,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 5.219170091802073,
      "observed_lower": 5.035819463549939,
      "observed_upper": 5.227787489169014,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 1.9480031930386164,
      "observed_lower": 1.7718384520653438,
      "observed_upper": 1.9554672091238072,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 55.09475841066984,
      "observed_lower": 50.055724527882205,
      "observed_upper": 55.723363336174536,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 75.63920852857925,
      "observed_lower": 73.79998210554974,
      "observed_upper": 76.44167766851074,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 7.421039686186889,
      "observed_lower": 6.437389423041981,
      "observed_upper": 8.134545756531885,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 4.769929776870342,
      "observed_lower": 4.269854334046145,
      "observed_upper": 4.98680490234685,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.3575023761291039,
      "observed_lower": 0.34067594186445255,
      "observed_upper": 0.37409798359840507,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.6363587916826859,
      "observed_lower": 0.6069915628061817,
      "observed_upper": 0.6465748808185032,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 13.75773688598975,
      "observed_lower": 10.630335991800672,
      "observed_upper": 14.30853988780146,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 7.084208901572928,
      "observed_lower": 6.102688306279159,
      "observed_upper": 10.738067820508416,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 4.866289025462461,
      "observed_lower": 4.635459823432377,
      "observed_upper": 4.929142655526967,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 5.556391241407884,
      "observed_lower": 5.503653463707023,
      "observed_upper": 5.563283966731977,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 3.8805806674947587,
      "observed_lower": 3.6961252049027014,
      "observed_upper": 3.9225887183118107,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 55.55435988209412,
      "observed_lower": 52.66019074841914,
      "observed_upper": 56.600420901098616,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 78.0962505344749,
      "observed_lower": 76.78510404832356,
      "observed_upper": 78.9043673239675,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 8.428657212656054,
      "observed_lower": 7.12187353901431,
      "observed_upper": 9.979173200861338,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 4.690755642088193,
      "observed_lower": 4.315103895258335,
      "observed_upper": 4.7021600200581695,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.6096431811147887,
      "observed_lower": 0.57258992689111,
      "observed_upper": 0.6242084220730127,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.6573276061759643,
      "observed_lower": 0.613415319254765,
      "observed_upper": 0.7143138929041334,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 14.118924984950965,
      "observed_lower": 11.987968891290507,
      "observed_upper": 14.944750999154554,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 5.656513844207091,
      "observed_lower": 5.414988996097811,
      "observed_upper": 6.174703078091805,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 5.215822625762962,
      "observed_lower": 4.9636453113986745,
      "observed_upper": 5.264496729751905,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 6.016054857677735,
      "observed_lower": 6.000219652942759,
      "observed_upper": 6.041142272922991,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 7.913275952152202,
      "observed_lower": 7.445495962276259,
      "observed_upper": 7.969150940296123,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 54.73633194272187,
      "observed_lower": 51.80853879249746,
      "observed_upper": 55.453710301544234,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 77.67977448017425,
      "observed_lower": 76.94882829456344,
      "observed_upper": 78.75703779279716,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 7.97536349905789,
      "observed_lower": 7.095195598879355,
      "observed_upper": 10.585447746383048,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 4.008500357973098,
      "observed_lower": 3.9679575920825574,
      "observed_upper": 4.990496634038369,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.6723962531324942,
      "observed_lower": 0.6500461273697177,
      "observed_upper": 0.6790617020382166,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.7408201445031682,
      "observed_lower": 0.7330646768410235,
      "observed_upper": 0.8021505396674893,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 16.08694561413034,
      "observed_lower": 14.688948697247628,
      "observed_upper": 17.600710767583976,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 9.127328570414338,
      "observed_lower": 8.254022124511122,
      "observed_upper": 12.192268429420254,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 5.344581816993008,
      "observed_lower": 5.2699147812270475,
      "observed_upper": 5.369224982606487,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 6.306980372904734,
      "observed_lower": 5.885829931445785,
      "observed_upper": 6.317265219870708,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 16.631515407446688,
      "observed_lower": 16.431432961171886,
      "observed_upper": 16.742503235159155,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 55.50506563211948,
      "observed_lower": 54.620041098924084,
      "observed_upper": 56.09423136700788,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 78.65432297463046,
      "observed_lower": 72.8425048921455,
      "observed_upper": 81.79750470847506,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 11.579426948236163,
      "observed_lower": 9.076033500489833,
      "observed_upper": 14.795057541441096,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 4.858443010209583,
      "observed_lower": 4.350592307035882,
      "observed_upper": 5.544340480820463,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.6981174193543136,
      "observed_lower": 0.6561799848558675,
      "observed_upper": 0.7027901106808035,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.820192795009004,
      "observed_lower": 0.7801671619451135,
      "observed_upper": 0.8381775675072521,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 17.378052467409287,
      "observed_lower": 11.724960654170912,
      "observed_upper": 17.68346946190915,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 10.013918838194753,
      "observed_lower": 7.960058014573455,
      "observed_upper": 14.764048884784652,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 5.338204519038522,
      "observed_lower": 5.079123059117657,
      "observed_upper": 5.389427422764988,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 6.6526638440184165,
      "observed_lower": 6.634910888208278,
      "observed_upper": 6.665688900221258,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 33.13221618395265,
      "observed_lower": 31.359198440882814,
      "observed_upper": 33.41001516872669,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 54.76121989634676,
      "observed_lower": 51.682050768235605,
      "observed_upper": 56.775011684897024,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 81.68084060800143,
      "observed_lower": 80.38583102284043,
      "observed_upper": 83.93916120348266,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 10.072679919921125,
      "observed_lower": 7.1106597181441895,
      "observed_upper": 12.011702188180603,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 4.509284939519073,
      "observed_lower": 4.489384462568122,
      "observed_upper": 4.985850914732837,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.6468665780645018,
      "observed_lower": 0.5785507952761854,
      "observed_upper": 0.6726146870506396,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 4.969949850439771,
      "observed_lower": 1.0160105794962302,
      "observed_upper": 5.383614732312285,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 13.987990609746872,
      "observed_lower": 13.142446140660693,
      "observed_upper": 15.128307635222187,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 10.343184833853675,
      "observed_lower": 8.590246491999075,
      "observed_upper": 10.79854340580761,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 3.7994863667722503,
      "observed_lower": 3.7022655805465914,
      "observed_upper": 3.8271005832554756,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 4.571882767753689,
      "observed_lower": 4.387645689017269,
      "observed_upper": 4.579805225795958,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 104.58512564537841,
      "observed_lower": 100.71677559530562,
      "observed_upper": 105.13462756514703,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 34.35738477343557,
      "observed_lower": 32.800450908282855,
      "observed_upper": 35.03545565105096,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 51.59855913321084,
      "observed_lower": 49.1462477756733,
      "observed_upper": 52.319852235305795,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 7.151651341621141,
      "observed_lower": 6.525623948698659,
      "observed_upper": 7.403123750901746,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 3.584764727913085,
      "observed_lower": 3.252367289310336,
      "observed_upper": 5.779133069968339,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.03298971432083702,
      "observed_lower": 0.03231048502588149,
      "observed_upper": 0.03331254953427812,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.06693365070755028,
      "observed_lower": 0.06637047741947853,
      "observed_upper": 0.06977979272545771,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.2439367534785313,
      "observed_lower": 1.7403647223398835,
      "observed_upper": 2.5718476425271612,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 2.429818240459003,
      "observed_lower": 1.9314416192046793,
      "observed_upper": 4.471374399590418,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.7037770309959025,
      "observed_lower": 0.698096780102699,
      "observed_upper": 0.7149429987035375,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 1.6787203603975724,
      "observed_lower": 1.566181847486412,
      "observed_upper": 1.7956679431159388,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 0.2996299812652504,
      "observed_lower": 0.2983936735588703,
      "observed_upper": 0.302762756920447,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 8.474340026441247,
      "observed_lower": 8.429838232213049,
      "observed_upper": 8.627584768398847,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 24.328978969420998,
      "observed_lower": 22.952409862019632,
      "observed_upper": 26.256589502104095,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.1414591054506442,
      "observed_lower": 1.0841147937789946,
      "observed_upper": 1.2594624384658686,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.5342244251967092,
      "observed_lower": 1.3279603047326238,
      "observed_upper": 1.7128939767100286,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.053199663144417306,
      "observed_lower": 0.051396417471901885,
      "observed_upper": 0.05766901246099481,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.09469607929062178,
      "observed_lower": 0.09157439058705631,
      "observed_upper": 0.09967264324770199,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.047278610813674,
      "observed_lower": 1.6037562955313018,
      "observed_upper": 2.2057305873481368,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 2.8120255035735005,
      "observed_lower": 2.0345381278057824,
      "observed_upper": 4.400528560197807,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.7241488566344164,
      "observed_lower": 0.6993332929689292,
      "observed_upper": 0.7598511665028327,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.2055693297246206,
      "observed_lower": 1.8348295459594601,
      "observed_upper": 2.2798691899987915,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 0.5774663277787727,
      "observed_lower": 0.5576196341307308,
      "observed_upper": 0.6046860116693927,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 8.267003044656228,
      "observed_lower": 7.944632465220014,
      "observed_upper": 8.725228473155886,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 30.999742001911983,
      "observed_lower": 25.598918704910545,
      "observed_upper": 32.335512099328284,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.2542622214939774,
      "observed_lower": 1.0744485906166794,
      "observed_upper": 1.538337785559108,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.8619615372514715,
      "observed_lower": 1.4385862360548907,
      "observed_upper": 1.9269751140300173,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.09005395862133461,
      "observed_lower": 0.08674085764438504,
      "observed_upper": 0.09913867972707056,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.09709770383880584,
      "observed_lower": 0.09292543997980812,
      "observed_upper": 0.11344950460302601,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.085588957211841,
      "observed_lower": 1.816040859626395,
      "observed_upper": 2.3735707986533705,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 2.242980956051308,
      "observed_lower": 1.847898125818009,
      "observed_upper": 2.5505702008703772,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.770459654871853,
      "observed_lower": 0.7519357766053226,
      "observed_upper": 0.8361233792421288,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.385549977951596,
      "observed_lower": 2.0476116681233285,
      "observed_upper": 2.49540055054719,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 1.1689162566392066,
      "observed_lower": 1.127907905858893,
      "observed_upper": 1.2656847854486164,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 8.085423612612173,
      "observed_lower": 7.848404027230179,
      "observed_upper": 8.807326897328373,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 30.802409333414214,
      "observed_lower": 26.259258456828654,
      "observed_upper": 32.531985937242496,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.1780875711936005,
      "observed_lower": 1.0748413873485778,
      "observed_upper": 1.6812129999962735,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.5894931424001195,
      "observed_lower": 1.3540898057260342,
      "observed_upper": 2.061412806630981,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.09679967387097618,
      "observed_lower": 0.0919775874590298,
      "observed_upper": 0.10074535379382321,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10665013085792079,
      "observed_lower": 0.10372420908050727,
      "observed_upper": 0.11900677018324825,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.3159127995930437,
      "observed_lower": 2.0783972192082225,
      "observed_upper": 2.6112352205708826,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 3.6099052903683124,
      "observed_lower": 3.4172907692685377,
      "observed_upper": 4.823914106741936,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.769417994897317,
      "observed_lower": 0.7456610035556147,
      "observed_upper": 0.7965763182457938,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.494443104436676,
      "observed_lower": 2.4368231621871814,
      "observed_upper": 2.499448317314775,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 2.39431028938783,
      "observed_lower": 2.324948182336909,
      "observed_upper": 2.4839118547807786,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 7.990633835845576,
      "observed_lower": 7.7284047941643434,
      "observed_upper": 8.322120313808746,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 31.10818838458525,
      "observed_lower": 30.157905542695726,
      "observed_upper": 32.36347191203249,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.667000294811556,
      "observed_lower": 1.2842037355875133,
      "observed_upper": 2.194989500863606,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.9215391437050406,
      "observed_lower": 1.8012114224330362,
      "observed_upper": 2.193637911832126,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.10443452452467565,
      "observed_lower": 0.1003827470975699,
      "observed_upper": 0.10598844663597412,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.12269632899943028,
      "observed_lower": 0.11935036837273764,
      "observed_upper": 0.12640635807916406,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.5996610259020914,
      "observed_lower": 1.7936904313457922,
      "observed_upper": 2.6668608890737344,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 3.0584233384441006,
      "observed_lower": 2.1189948611665628,
      "observed_upper": 5.790500251703741,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.7985660224276971,
      "observed_lower": 0.7770068232618147,
      "observed_upper": 0.8127846879388155,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.0318381536870076,
      "observed_lower": 1.7662361317808555,
      "observed_upper": 2.614301371914823,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 4.956397230168152,
      "observed_lower": 4.7973460924217335,
      "observed_upper": 5.038596240899549,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 8.191977171341218,
      "observed_lower": 7.906346355399921,
      "observed_upper": 8.562293641827537,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 24.946735963787702,
      "observed_lower": 21.398985099875578,
      "observed_upper": 32.92116802576252,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.5068174908157173,
      "observed_lower": 1.087792332373765,
      "observed_upper": 1.8114962590266395,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.3772133089512675,
      "observed_lower": 1.1950896072071682,
      "observed_upper": 1.9554643310935453,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.10421648892597504,
      "observed_lower": 0.08826785297842381,
      "observed_upper": 0.14901932107252297,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.8007071954479007,
      "observed_lower": 0.15500985079915927,
      "observed_upper": 1.192752147359531,
      "result": "overlap"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.253601156577248,
      "observed_lower": 2.0051057110152457,
      "observed_upper": 3.35171112998213,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 4.752238997046611,
      "observed_lower": 4.094748215036513,
      "observed_upper": 5.30380437619923,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.6121341591830234,
      "observed_lower": 0.5648441530440965,
      "observed_upper": 0.8479028804645329,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.1005792633360025,
      "observed_lower": 2.0914771619242667,
      "observed_upper": 2.2494136557022113,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 16.849679606659866,
      "observed_lower": 15.3660726306036,
      "observed_upper": 23.292817005929027,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 5.535308410089437,
      "observed_lower": 5.004271711382251,
      "observed_upper": 7.762185267585495,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 23.70727090766877,
      "observed_lower": 23.426744569275876,
      "observed_upper": 25.697378879680347,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.1522004971667825,
      "observed_lower": 0.9955959269250431,
      "observed_upper": 1.640178985702389,
      "result": "overlap"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.6470418936599995,
      "observed_lower": 1.5503193261043942,
      "observed_upper": 2.838474608589434,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.48901423579790537,
      "observed_lower": 0.4806533930075696,
      "observed_upper": 0.49930674929333607,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5364208086396566,
      "observed_lower": 0.5048328041713646,
      "observed_upper": 0.5600933446400505,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 19.02473039804854,
      "observed_lower": 15.571680126659315,
      "observed_upper": 19.364509843874185,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 17.597431785475546,
      "observed_lower": 14.80431955077205,
      "observed_upper": 18.518307033392443,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5425199042563505,
      "observed_lower": 0.5394913536979429,
      "observed_upper": 0.5431852330220835,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.6355212611389088,
      "observed_lower": 0.6311468082935642,
      "observed_upper": 0.642424791152305,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 20.65744909828677,
      "observed_lower": 16.033159464720534,
      "observed_upper": 21.8149897331849,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 23.074239857229003,
      "observed_lower": 13.85870707731027,
      "observed_upper": 28.44969990421871,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.6272890375657035,
      "observed_lower": 0.5898978943529847,
      "observed_upper": 0.6607033759438862,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.6963963450595422,
      "observed_lower": 0.6885141530423049,
      "observed_upper": 0.7098399956700038,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 20.678918282848308,
      "observed_lower": 19.904841184934163,
      "observed_upper": 22.6732060082892,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 25.128644857844925,
      "observed_lower": 19.25569276290401,
      "observed_upper": 29.456621574908333,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 2.3198141921436566,
      "observed_lower": 0.7631181244600465,
      "observed_upper": 4.195622038843608,
      "result": "overlap"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.974155401181878,
      "observed_lower": 0.9687139961958625,
      "observed_upper": 1.042515661275557,
      "result": "overlap"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 19.95801819299853,
      "observed_lower": 19.43379620174966,
      "observed_upper": 21.75988526558117,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 29.29693261190118,
      "observed_lower": 21.17885855695103,
      "observed_upper": 32.81147975654597,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.0433907490430079,
      "observed_lower": 0.7776756600098463,
      "observed_upper": 1.2345561665304718,
      "result": "overlap"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.5574615833965735,
      "observed_lower": 1.0318961797070025,
      "observed_upper": 3.9988251535903303,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 20.005610132214034,
      "observed_lower": 15.271676416388877,
      "observed_upper": 21.888775536275546,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 31.406730340833832,
      "observed_lower": 29.074076510863186,
      "observed_upper": 31.893567945554324,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.6843375727708159,
      "observed_lower": 1.5944877536702518,
      "observed_upper": 1.7627999234351008,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 2.0688590832978813,
      "observed_lower": 2.0405256684452766,
      "observed_upper": 2.098170973138509,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 11.973977787947291,
      "observed_lower": 11.679362158189912,
      "observed_upper": 12.727107249650828,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 21.361045233357572,
      "observed_lower": 20.49412643291147,
      "observed_upper": 21.570806558065154,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.08068302747724633,
      "observed_lower": 0.07915525274941147,
      "observed_upper": 0.10163319308503531,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.08850469306322287,
      "observed_lower": 0.08313718116153856,
      "observed_upper": 0.1140062198678659,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.1389123937228507,
      "observed_lower": 2.5643848438188273,
      "observed_upper": 3.941618996228134,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 7.881581618963286,
      "observed_lower": 6.030078078233599,
      "observed_upper": 9.249331572179473,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.08755412821479078,
      "observed_lower": 0.08641394320384753,
      "observed_upper": 0.09892794573034946,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10256307564835346,
      "observed_lower": 0.10109501120143286,
      "observed_upper": 0.11700201148944434,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.3337854201332604,
      "observed_lower": 2.5681385287563208,
      "observed_upper": 3.973068465844886,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 11.962845356314508,
      "observed_lower": 6.157101281938414,
      "observed_upper": 15.010149619829349,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.09538736481673821,
      "observed_lower": 0.08776051417030185,
      "observed_upper": 0.10457117332714776,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10589601961006678,
      "observed_lower": 0.10243188976085019,
      "observed_upper": 0.11234814884320202,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.1444954464949735,
      "observed_lower": 2.9612906124779825,
      "observed_upper": 3.588544938169507,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 12.461994386891686,
      "observed_lower": 8.443336795559203,
      "observed_upper": 14.789295143965,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.32543911122553615,
      "observed_lower": 0.10168299694287755,
      "observed_upper": 0.7092840997171554,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.13666106062711497,
      "observed_lower": 0.12907797516066427,
      "observed_upper": 0.17624079943403861,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.7998447998762424,
      "observed_lower": 2.589489852792083,
      "observed_upper": 3.6785822191934665,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 12.982780624421196,
      "observed_lower": 8.966844400918312,
      "observed_upper": 15.661071842261295,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.20173094642336276,
      "observed_lower": 0.1394106166938342,
      "observed_upper": 0.2729804169698777,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.301122278038972,
      "observed_lower": 0.18498365086435054,
      "observed_upper": 0.8842051802993284,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.8679187729524345,
      "observed_lower": 2.7376886491863472,
      "observed_upper": 4.839963733399791,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 14.74554655390026,
      "observed_lower": 12.040343153693613,
      "observed_upper": 15.80678406294462,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.37622211641561065,
      "observed_lower": 0.35132860914697384,
      "observed_upper": 0.42615348810289333,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.462110776050412,
      "observed_lower": 0.4496083732053772,
      "observed_upper": 0.5072287937798611,
      "result": "range_loss"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.674567935858788,
      "observed_lower": 2.5734246332814688,
      "observed_upper": 3.0767536779383122,
      "result": "range_win"
    },
    {
      "robot": "go2",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 13.212179750931783,
      "observed_lower": 9.513422834269347,
      "observed_upper": 13.720450140492291,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5775612800066158,
      "observed_lower": 0.5655287623581252,
      "observed_upper": 0.6731695120977523,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5809268248978731,
      "observed_lower": 0.5673845431137121,
      "observed_upper": 0.6498394635326735,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.7346464089499446,
      "observed_lower": 0.7149081645683347,
      "observed_upper": 0.7400737500543146,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.7308540611825725,
      "observed_lower": 0.7232892735779949,
      "observed_upper": 2.4462194202323553,
      "result": "overlap"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.8559176598302427,
      "observed_lower": 0.831766953287596,
      "observed_upper": 0.8704828894880072,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.8294352608579556,
      "observed_lower": 0.8255246514361407,
      "observed_upper": 0.8525481125297951,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.9331729763471139,
      "observed_lower": 0.9170415149521616,
      "observed_upper": 0.9541996606406223,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.9396221299794945,
      "observed_lower": 0.9297334142459365,
      "observed_upper": 2.8052905705342246,
      "result": "overlap"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 3.2717446567918347,
      "observed_lower": 2.346105354298342,
      "observed_upper": 3.458936520610038,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 3.295167682561208,
      "observed_lower": 2.645384910599083,
      "observed_upper": 3.409013518890302,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 2.0453047015085137,
      "observed_lower": 1.8580880252651746,
      "observed_upper": 2.082366993041387,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 2.0634198162120496,
      "observed_lower": 1.750507890972499,
      "observed_upper": 2.0953576674381353,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.08697592406360487,
      "observed_lower": 0.08110226190822946,
      "observed_upper": 0.1095541870223635,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.08748274712641699,
      "observed_lower": 0.08136839871134498,
      "observed_upper": 0.10575736548216232,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.10749694926167133,
      "observed_lower": 0.0891504355850786,
      "observed_upper": 0.12452626494311442,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10694203493749393,
      "observed_lower": 0.0901955761442837,
      "observed_upper": 0.4116056914739779,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.11413156470312745,
      "observed_lower": 0.10477074388750057,
      "observed_upper": 0.13386561651018902,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.11060029321096185,
      "observed_lower": 0.10398445320119443,
      "observed_upper": 0.13110754969063795,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.14850555227227474,
      "observed_lower": 0.1353238424321118,
      "observed_upper": 0.15944707933442134,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.1495318733790158,
      "observed_lower": 0.13719673101151772,
      "observed_upper": 0.4687649834792158,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.557656014419584,
      "observed_lower": 0.38986253154827005,
      "observed_upper": 0.6454719534886719,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.5616483770781675,
      "observed_lower": 0.4395951171912304,
      "observed_upper": 0.6361558248890141,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.399458147433592,
      "observed_lower": 0.30603140492119335,
      "observed_upper": 0.48858068339654204,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "idsva_so",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.40299611913760475,
      "observed_lower": 0.2883127074259551,
      "observed_upper": 0.49162865361300956,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.21993721160577037,
      "observed_lower": 0.21636508831495882,
      "observed_upper": 0.2207470787015171,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.39248490253586366,
      "observed_lower": 0.389811961929131,
      "observed_upper": 0.39477084261451223,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 20.02120608127991,
      "observed_lower": 15.827837617366432,
      "observed_upper": 26.523699464885688,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 9.359790102941322,
      "observed_lower": 8.636043087037045,
      "observed_upper": 11.17910955312197,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 7.2225315371903385,
      "observed_lower": 7.174546408524079,
      "observed_upper": 7.231392041406782,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 10.555807240549292,
      "observed_lower": 10.54922667623348,
      "observed_upper": 10.569518930262587,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 1.7529983937941473,
      "observed_lower": 1.716476327093488,
      "observed_upper": 1.7739893135321942,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 78.57286597938464,
      "observed_lower": 78.00019593914966,
      "observed_upper": 80.10562647718407,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 136.22042906843862,
      "observed_lower": 135.84883587904736,
      "observed_upper": 142.03225405537708,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 11.368746517134705,
      "observed_lower": 9.972607411290882,
      "observed_upper": 15.233353734818515,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 6.017551360638723,
      "observed_lower": 5.96235995057045,
      "observed_upper": 6.738444898007283,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.34181861691734283,
      "observed_lower": 0.33647399235893266,
      "observed_upper": 0.3435143143795155,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.6737419354903602,
      "observed_lower": 0.6665314187716012,
      "observed_upper": 0.6831936195767301,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 16.922085176703614,
      "observed_lower": 16.78461239860619,
      "observed_upper": 21.90964412524012,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 9.133538447213397,
      "observed_lower": 8.865381715199343,
      "observed_upper": 10.024076838771533,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 7.518513223773745,
      "observed_lower": 7.482031811363686,
      "observed_upper": 7.583275668920757,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 11.181149978719224,
      "observed_lower": 11.151226783404812,
      "observed_upper": 11.198838839148637,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 3.442978562317721,
      "observed_lower": 3.3849879662261633,
      "observed_upper": 3.570085393806652,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 78.48955559211582,
      "observed_lower": 78.03726713937812,
      "observed_upper": 81.76679024156097,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 139.88153964162862,
      "observed_lower": 136.82362483400308,
      "observed_upper": 143.38495368284063,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 14.027304227888019,
      "observed_lower": 13.976023046140979,
      "observed_upper": 17.81268846315416,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 7.0921349948952,
      "observed_lower": 6.817320597694149,
      "observed_upper": 17.416883182753338,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.5746398818997599,
      "observed_lower": 0.5700539931947929,
      "observed_upper": 0.5762710308540868,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.9836295255631834,
      "observed_lower": 0.9505748220046344,
      "observed_upper": 0.9893062641470435,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 20.340066602113396,
      "observed_lower": 12.780032802432196,
      "observed_upper": 21.11527349247125,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 11.280876514144756,
      "observed_lower": 9.835256262233477,
      "observed_upper": 13.649143316918588,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 8.197185522985373,
      "observed_lower": 8.136905864631967,
      "observed_upper": 8.20109884527948,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 11.948112158217766,
      "observed_lower": 11.766012211347865,
      "observed_upper": 12.007355058765498,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 6.808113767956539,
      "observed_lower": 6.702839432050545,
      "observed_upper": 6.997288727035046,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 80.66164532931107,
      "observed_lower": 78.29255177463499,
      "observed_upper": 82.12655815037265,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 141.2989966361892,
      "observed_lower": 135.73785686854373,
      "observed_upper": 144.82802034452482,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 12.19697348595635,
      "observed_lower": 10.259293763409195,
      "observed_upper": 13.039699709075887,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 5.471733002053936,
      "observed_lower": 5.051468157481151,
      "observed_upper": 10.173934756214408,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.9574165273683983,
      "observed_lower": 0.8926095008857541,
      "observed_upper": 0.9678500965087539,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.0039552892515557,
      "observed_lower": 0.9979282214785387,
      "observed_upper": 1.0830837878833308,
      "result": "overlap"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 18.442420588016425,
      "observed_lower": 12.886563461208503,
      "observed_upper": 25.625602596973042,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 15.042643930584408,
      "observed_lower": 9.601065674719134,
      "observed_upper": 15.780906333284959,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 8.576574022876066,
      "observed_lower": 8.534541849446155,
      "observed_upper": 8.668657780908601,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 13.345855882590493,
      "observed_lower": 13.308634158379702,
      "observed_upper": 13.442010477878814,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 13.576626910214227,
      "observed_lower": 13.185932396504986,
      "observed_upper": 14.142589490550748,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 77.91922971935698,
      "observed_lower": 76.31847985827935,
      "observed_upper": 79.80339438672226,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 139.46358029071044,
      "observed_lower": 136.76502228729473,
      "observed_upper": 142.80347934337695,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 11.700444137154248,
      "observed_lower": 10.185791866186067,
      "observed_upper": 14.742969080774744,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 5.217953848429907,
      "observed_lower": 5.192583593942691,
      "observed_upper": 8.33555557956002,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.9227422614610189,
      "observed_lower": 0.8932262172616433,
      "observed_upper": 0.9497063733908078,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.054570312239467,
      "observed_lower": 1.0359356751561986,
      "observed_upper": 1.1322534955423562,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 19.886145393978953,
      "observed_lower": 12.907087247193264,
      "observed_upper": 21.978598644804975,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 9.379957305811876,
      "observed_lower": 9.114963686158253,
      "observed_upper": 9.604885220573465,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 9.16981952945063,
      "observed_lower": 9.107423752291249,
      "observed_upper": 9.239768811213528,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 15.249454315351434,
      "observed_lower": 15.015948322092457,
      "observed_upper": 15.338042282564226,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 27.091657374485678,
      "observed_lower": 26.912513812015742,
      "observed_upper": 27.934415892322516,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 73.423659208937,
      "observed_lower": 71.75055190794849,
      "observed_upper": 75.54602661552791,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 140.46975009294266,
      "observed_lower": 131.7811862429267,
      "observed_upper": 142.1864514085148,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 11.022065800887129,
      "observed_lower": 10.422282990605407,
      "observed_upper": 17.442070620982136,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 6.472399609105378,
      "observed_lower": 5.6570611304134015,
      "observed_upper": 6.6192285562232005,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.9609330773896738,
      "observed_lower": 0.9357557444292474,
      "observed_upper": 1.0746500299226616,
      "result": "overlap"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.4369315025288618,
      "observed_lower": 1.3847728058429436,
      "observed_upper": 1.5342793745110357,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 16.457652815844032,
      "observed_lower": 13.073289402152263,
      "observed_upper": 19.36298703847106,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 9.968121380690448,
      "observed_lower": 9.819985849252728,
      "observed_upper": 10.564724167450057,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 8.980742516089364,
      "observed_lower": 8.921292644440268,
      "observed_upper": 9.056585407809909,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 16.023383122670673,
      "observed_lower": 15.999584330941603,
      "observed_upper": 16.067192949708616,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 95.2292473895683,
      "observed_lower": 93.52093122098715,
      "observed_upper": 97.53139624578114,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 63.871486404420246,
      "observed_lower": 60.513897595208356,
      "observed_upper": 64.19422149535448,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 128.88106553555647,
      "observed_lower": 124.40179174453611,
      "observed_upper": 129.34201008731642,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 10.254289710228823,
      "observed_lower": 9.6616274105733,
      "observed_upper": 16.887141084757385,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 6.624110655975846,
      "observed_lower": 6.190864666972603,
      "observed_upper": 7.224094593453205,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.0229314219549984,
      "observed_lower": 0.022501377267549985,
      "observed_upper": 0.02338569421043448,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.04092184694579522,
      "observed_lower": 0.04053937761901298,
      "observed_upper": 0.04182157364384226,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.08748088304746,
      "observed_lower": 1.6460518114615748,
      "observed_upper": 2.809890525681591,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 2.351481045919116,
      "observed_lower": 1.7824101315061511,
      "observed_upper": 2.8459410211616554,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.7530463674308469,
      "observed_lower": 0.7461331988400313,
      "observed_upper": 0.7660854403639559,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.6519591120667507,
      "observed_lower": 2.177275902606073,
      "observed_upper": 2.6907534410178946,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 0.18277373601781796,
      "observed_lower": 0.1785088421960486,
      "observed_upper": 0.1879344082960105,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 8.192281473570958,
      "observed_lower": 8.111806989927793,
      "observed_upper": 8.486298873579775,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 34.22296370948982,
      "observed_lower": 28.038111781492514,
      "observed_upper": 36.15810509982586,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.1853452245776972,
      "observed_lower": 1.0371238883787475,
      "observed_upper": 1.6138041524143512,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.5118029156380384,
      "observed_lower": 1.230583344302124,
      "observed_upper": 1.715451187140465,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.035803613284724124,
      "observed_lower": 0.03359208113935559,
      "observed_upper": 0.03730443470851402,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.07057074868988655,
      "observed_lower": 0.0665435606013221,
      "observed_upper": 0.0741924010381015,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 1.7724950124187302,
      "observed_lower": 1.6757017611784655,
      "observed_upper": 2.379309549976462,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 2.3614807708235657,
      "observed_lower": 2.267214176186873,
      "observed_upper": 2.613484121297838,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.787522758028051,
      "observed_lower": 0.7469730956990447,
      "observed_upper": 0.8235168091288911,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.890891719900247,
      "observed_lower": 2.8517914126432684,
      "observed_upper": 2.919768867880637,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 0.36063299917519714,
      "observed_lower": 0.3379422867723846,
      "observed_upper": 0.3876985962510493,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 8.221347686248242,
      "observed_lower": 7.7908969762012115,
      "observed_upper": 8.87958306308346,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 36.16643954213406,
      "observed_lower": 34.99098762200911,
      "observed_upper": 37.38342250467568,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.469282687209296,
      "observed_lower": 1.3953045728142077,
      "observed_upper": 1.9343947135277237,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.8336749236151322,
      "observed_lower": 1.7434473099115053,
      "observed_upper": 4.540941612155837,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.058321073965031486,
      "observed_lower": 0.05633100048143862,
      "observed_upper": 0.062425840009498565,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.09983005378064974,
      "observed_lower": 0.09393291055798117,
      "observed_upper": 0.10716879950482085,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.0643442373574272,
      "observed_lower": 1.2628839417683169,
      "observed_upper": 2.2873589235332776,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 2.5671063289829226,
      "observed_lower": 2.094859261473057,
      "observed_upper": 3.5381997763972213,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.8319448027356191,
      "observed_lower": 0.8040642704898622,
      "observed_upper": 0.8884022569358165,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.7189442506794426,
      "observed_lower": 2.5061003998638918,
      "observed_upper": 3.1126071429981406,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 0.6909658015915522,
      "observed_lower": 0.6623541906228225,
      "observed_upper": 0.7579968507644094,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 8.186472835542766,
      "observed_lower": 7.736631660087293,
      "observed_upper": 8.896541913667816,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 32.15437631011049,
      "observed_lower": 28.911469006197503,
      "observed_upper": 37.543049941007986,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.2378893551075774,
      "observed_lower": 1.013792182538653,
      "observed_upper": 1.4125544478684484,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.2451621469719016,
      "observed_lower": 1.0759368715556525,
      "observed_upper": 2.6373386844651043,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.09666247723470144,
      "observed_lower": 0.08250926101761843,
      "observed_upper": 0.10157950066282749,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10136111349433112,
      "observed_lower": 0.09224450335909996,
      "observed_upper": 0.11367370912712144,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 1.8619796183610027,
      "observed_lower": 1.191182512829924,
      "observed_upper": 2.6895031837825862,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 3.300386929767421,
      "observed_lower": 2.017305206383634,
      "observed_upper": 4.007860788801029,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.8659061835048009,
      "observed_lower": 0.7888989982998951,
      "observed_upper": 0.9098081737843435,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 2.9281081520454566,
      "observed_lower": 2.7963121894111858,
      "observed_upper": 3.4138537786839973,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 1.370720425351135,
      "observed_lower": 1.2188549828164446,
      "observed_upper": 1.4843178542954283,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 7.866864163704452,
      "observed_lower": 7.05457579024871,
      "observed_upper": 8.375665800151745,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 30.59859554570657,
      "observed_lower": 28.73605918953412,
      "observed_upper": 36.26765492914122,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.1812976721346908,
      "observed_lower": 0.941533961854891,
      "observed_upper": 1.547329945943812,
      "result": "overlap"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.144829775999267,
      "observed_lower": 1.0910274206565374,
      "observed_upper": 2.1169726031341365,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.09563028287965464,
      "observed_lower": 0.08859509097658722,
      "observed_upper": 0.10175635189217737,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10929255273977313,
      "observed_lower": 0.10274980023282493,
      "observed_upper": 0.12131537531142259,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.0609413796665974,
      "observed_lower": 1.2801959311197437,
      "observed_upper": 2.354898398557335,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 2.468350067844605,
      "observed_lower": 2.4154546832055495,
      "observed_upper": 2.5728439655878024,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 0.950333015167519,
      "observed_lower": 0.9033243990197678,
      "observed_upper": 0.9899956374930118,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 4.012917155877495,
      "observed_lower": 3.979208688724667,
      "observed_upper": 4.108574816292267,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 2.807699361573236,
      "observed_lower": 2.669331199092852,
      "observed_upper": 2.9930348295892717,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 7.609411201230245,
      "observed_lower": 7.116614527272688,
      "observed_upper": 8.094383994601356,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 36.96482892914605,
      "observed_lower": 34.92185974939643,
      "observed_upper": 38.08723843062218,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.142294348573663,
      "observed_lower": 1.0337393729520958,
      "observed_upper": 1.8688318048240715,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.7032218264313144,
      "observed_lower": 1.49911456272585,
      "observed_upper": 1.7730812869316646,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.11751947653849765,
      "observed_lower": 0.11246166734440144,
      "observed_upper": 0.13644198123422002,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.17573277678981414,
      "observed_lower": 0.16642575753918612,
      "observed_upper": 0.194798410455682,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.0127257448814158,
      "observed_lower": 1.5711834339191728,
      "observed_upper": 2.4584043554455053,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 2.277297257687371,
      "observed_lower": 2.178456250595479,
      "observed_upper": 2.83059976972221,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "host",
      "ratio": 1.0983201476265405,
      "observed_lower": 1.0721851846851866,
      "observed_upper": 1.1498612774871824,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_warp",
      "boundary": "resident",
      "ratio": 3.660670356083137,
      "observed_lower": 3.549332456046415,
      "observed_upper": 4.304872701139788,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mujoco_cpu",
      "boundary": "host",
      "ratio": 11.646275445921518,
      "observed_lower": 11.239599563589467,
      "observed_upper": 12.38298661497439,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "host",
      "ratio": 7.811307389244313,
      "observed_lower": 7.2727245988924425,
      "observed_upper": 8.150361997612242,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "bard",
      "boundary": "resident",
      "ratio": 29.443912840036024,
      "observed_lower": 27.597174270040767,
      "observed_upper": 34.65452179968582,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.254071472171329,
      "observed_lower": 1.1611606279971927,
      "observed_upper": 2.1440607852138722,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 1.5133311940495864,
      "observed_lower": 1.373375485198225,
      "observed_upper": 1.9355470307196516,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.8757066358970186,
      "observed_lower": 0.7948361389621578,
      "observed_upper": 0.8798945674431459,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.876440292994989,
      "observed_lower": 0.8688654390674818,
      "observed_upper": 0.8809234727428026,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 23.302201270824327,
      "observed_lower": 21.366174971111093,
      "observed_upper": 26.923911122297085,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 20.144467485417145,
      "observed_lower": 18.733343875898576,
      "observed_upper": 33.78324222677003,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 11.19010221221626,
      "observed_lower": 10.449052019926462,
      "observed_upper": 11.733923410274905,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 8.478999828815398,
      "observed_lower": 8.14071712783156,
      "observed_upper": 9.633299493372938,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.8961764567300222,
      "observed_lower": 0.8699339587103929,
      "observed_upper": 0.9126355693697337,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.9304570580588701,
      "observed_lower": 0.9102990087523148,
      "observed_upper": 0.982397623842865,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 25.945116811053047,
      "observed_lower": 22.588298412941285,
      "observed_upper": 31.570980283311922,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 24.37825873781795,
      "observed_lower": 23.822180742118153,
      "observed_upper": 30.117153522367424,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 13.770937732938476,
      "observed_lower": 10.324687925570881,
      "observed_upper": 14.590009169807788,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 21.236164669413327,
      "observed_lower": 12.060787631784024,
      "observed_upper": 24.813392630812448,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.9510096025649173,
      "observed_lower": 0.9283607358106802,
      "observed_upper": 0.9574366152535652,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.0264799522250907,
      "observed_lower": 1.0098154176901937,
      "observed_upper": 1.0347386893371202,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 23.88396468281507,
      "observed_lower": 16.59237758654652,
      "observed_upper": 31.677123980550828,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 26.8034209147112,
      "observed_lower": 24.705651771542044,
      "observed_upper": 27.680607920329425,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 12.060932454893127,
      "observed_lower": 10.83702219345645,
      "observed_upper": 14.596029694207688,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 9.270408992710728,
      "observed_lower": 8.310954343259617,
      "observed_upper": 11.720855595222144,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.9876723160448907,
      "observed_lower": 0.9692334187496562,
      "observed_upper": 1.0139510735879789,
      "result": "overlap"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.2261033686361402,
      "observed_lower": 1.2192097211415065,
      "observed_upper": 1.240725326081833,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 24.49694316663508,
      "observed_lower": 20.759808572631258,
      "observed_upper": 27.337112690668526,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 38.601600686624856,
      "observed_lower": 25.209984541866337,
      "observed_upper": 41.027132643212376,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 13.993147473521425,
      "observed_lower": 13.169364598888114,
      "observed_upper": 15.530027622382327,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 9.341745662991388,
      "observed_lower": 9.043192397725747,
      "observed_upper": 10.434834002731494,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.1275341150074683,
      "observed_lower": 1.1132632354476093,
      "observed_upper": 1.1886094826803044,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.5479517727212786,
      "observed_lower": 1.5415069576120224,
      "observed_upper": 1.592109277908826,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 25.78827000256823,
      "observed_lower": 25.633855463240554,
      "observed_upper": 28.917062273925644,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 33.06259316092711,
      "observed_lower": 31.68580427661097,
      "observed_upper": 45.6100129728253,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 16.85877867872335,
      "observed_lower": 13.491121184850378,
      "observed_upper": 17.472107445089893,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 11.825516448814689,
      "observed_lower": 10.24747848645775,
      "observed_upper": 23.276023405191214,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 1.3161034038172104,
      "observed_lower": 1.266735004064015,
      "observed_upper": 1.4019626587562595,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 6.248917181676653,
      "observed_lower": 5.4955554930889745,
      "observed_upper": 6.306358905778611,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 15.57645494293329,
      "observed_lower": 15.135734326388652,
      "observed_upper": 16.32986999045518,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 20.70924258695201,
      "observed_lower": 18.859541227061708,
      "observed_upper": 26.351068396749447,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 9.485174417312662,
      "observed_lower": 9.144584666925153,
      "observed_upper": 11.783387233902591,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_cuda",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 11.639890241678271,
      "observed_lower": 8.820065594866882,
      "observed_upper": 14.413694956209298,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.10751309072134223,
      "observed_lower": 0.09635240265443136,
      "observed_upper": 0.10850768600023235,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.10760316397064637,
      "observed_lower": 0.10532645476696813,
      "observed_upper": 0.10863456953527173,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.8608800899068774,
      "observed_lower": 2.5900713280219176,
      "observed_upper": 3.320228811556044,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 5.454923099820122,
      "observed_lower": 4.383413277629803,
      "observed_upper": 9.150025396389596,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.373841906645754,
      "observed_lower": 1.2666651882432678,
      "observed_upper": 1.4470152721282186,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 16,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 2.2960295209123127,
      "observed_lower": 1.9048455942494444,
      "observed_upper": 2.6091319010684795,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.10657454412617502,
      "observed_lower": 0.09561260226582394,
      "observed_upper": 0.11195706173156106,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.11065124066462663,
      "observed_lower": 0.10004903957977776,
      "observed_upper": 0.1205150830286739,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.0854291871576534,
      "observed_lower": 2.4826321244200154,
      "observed_upper": 3.8729524764694867,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 7.222118035632747,
      "observed_lower": 6.200260723959422,
      "observed_upper": 9.022358667049609,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.6376589677807076,
      "observed_lower": 1.1347646223740524,
      "observed_upper": 1.7898212738040404,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 32,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 6.2912650782852735,
      "observed_lower": 3.139092456013201,
      "observed_upper": 7.433482314165173,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.10780842709768483,
      "observed_lower": 0.10049225392327667,
      "observed_upper": 0.11301757924717923,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.11636390294927614,
      "observed_lower": 0.10930947793860282,
      "observed_upper": 0.12214245826739066,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 2.7075359264158236,
      "observed_lower": 1.7960749063370014,
      "observed_upper": 3.7392259840057265,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 6.756865870390606,
      "observed_lower": 5.903869579566791,
      "observed_upper": 8.112208730238471,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.3672523955452789,
      "observed_lower": 1.1730750171009996,
      "observed_upper": 1.7229421941654284,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 64,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 2.336974460339485,
      "observed_lower": 1.986055295285026,
      "observed_upper": 3.4349688908239098,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.12160250729852108,
      "observed_lower": 0.10964912618439022,
      "observed_upper": 0.12500697797335428,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.150958208923354,
      "observed_lower": 0.1379288806726648,
      "observed_upper": 0.1529652934432608,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.0160708787921573,
      "observed_lower": 2.348551778869457,
      "observed_upper": 3.3703103956336884,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 11.232176973379785,
      "observed_lower": 6.052647997056207,
      "observed_upper": 12.531959986850628,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.7228404503552286,
      "observed_lower": 1.4898468137164989,
      "observed_upper": 1.914650392397146,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 128,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 2.7182328882900206,
      "observed_lower": 2.1711738958899227,
      "observed_upper": 3.187376591215281,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.14324421570446588,
      "observed_lower": 0.12310837357491282,
      "observed_upper": 0.1521407443693283,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 0.19665492571843693,
      "observed_lower": 0.17046499728316855,
      "observed_upper": 0.20378828722798673,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.2761940075475438,
      "observed_lower": 2.834677508473645,
      "observed_upper": 3.7013530881551744,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 9.897493911250479,
      "observed_lower": 8.038886645029143,
      "observed_upper": 14.093290317711407,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 2.1417733596050907,
      "observed_lower": 1.4918933221586137,
      "observed_upper": 2.236411093072047,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 256,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 3.540042261048521,
      "observed_lower": 2.5998493593806806,
      "observed_upper": 7.192187283232105,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio",
      "boundary": "host",
      "ratio": 0.25768122447322966,
      "observed_lower": 0.24120451388029113,
      "observed_upper": 0.27776801542586127,
      "result": "range_loss"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "pinocchio_plain",
      "boundary": "host",
      "ratio": 1.223481852820953,
      "observed_lower": 1.0464325900523566,
      "observed_upper": 1.2494660873316996,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "host",
      "ratio": 3.0497299611912565,
      "observed_lower": 2.882060911481148,
      "observed_upper": 3.2354039896005977,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "mjx",
      "boundary": "resident",
      "ratio": 8.436633935779907,
      "observed_lower": 6.649524581373584,
      "observed_upper": 12.503073231241865,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "host",
      "ratio": 1.8571119496433883,
      "observed_lower": 1.7412600837162773,
      "observed_upper": 2.3346185909539208,
      "result": "range_win"
    },
    {
      "robot": "iiwa14",
      "operation": "inverse_dynamics_gradient",
      "batch": 1024,
      "grid": "grid_jax",
      "baseline": "frax",
      "boundary": "resident",
      "ratio": 4.741916205258456,
      "observed_lower": 3.1097916050173313,
      "observed_upper": 6.839019991785114,
      "result": "range_win"
    }
  ]
}