| robot | operation | backend | batch | dtype | status | host_us | host_min_us | host_max_us | resident_us | resident_min_us | resident_max_us | boundary_flag | reason |
|---|
| g1 | ccrba | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | frax | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | frax | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | frax | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | frax | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | frax | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | frax | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | grid_cuda | 16 | float32 | validated | 254.368 | 254.344 | 254.398 | 248.165 | 248.133 | 248.185 | — | — |
| g1 | ccrba | grid_cuda | 32 | float32 | validated | 253.574 | 253.561 | 253.58 | 246.707 | 246.702 | 246.722 | — | — |
| g1 | ccrba | grid_cuda | 64 | float32 | validated | 254.943 | 254.89 | 255.365 | 247.085 | 247.069 | 247.987 | — | — |
| g1 | ccrba | grid_cuda | 128 | float32 | validated | 253.942 | 253.939 | 254.003 | 244.725 | 244.615 | 244.729 | — | — |
| g1 | ccrba | grid_cuda | 256 | float32 | validated | 261.295 | 261.14 | 261.416 | 246.827 | 246.788 | 246.872 | — | — |
| g1 | ccrba | grid_cuda | 1024 | float32 | validated | 993.483 | 992.575 | 995.07 | 933.559 | 933.353 | 933.561 | — | — |
| g1 | ccrba | grid_jax | 16 | float32 | validated | 540.371 | 485.325 | 591.737 | 436.236 | 394.314 | 491.962 | — | — |
| g1 | ccrba | grid_jax | 32 | float32 | validated | 590.543 | 563.408 | 1260.941 | 585.787 | 321.237 | 624.218 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| g1 | ccrba | grid_jax | 64 | float32 | validated | 674.871 | 509.869 | 711.091 | 565.509 | 298.605 | 575.409 | — | — |
| g1 | ccrba | grid_jax | 128 | float32 | validated | 616.375 | 587.026 | 881.172 | 519.22 | 312.48 | 572.395 | — | — |
| g1 | ccrba | grid_jax | 256 | float32 | validated | 2816.359 | 590.762 | 6812.39 | 561.708 | 333.265 | 570.928 | — | — |
| g1 | ccrba | grid_jax | 1024 | float32 | validated | 2137.083 | 1317.5 | 2230.543 | 1444.897 | 1133.447 | 1570.456 | — | — |
| g1 | ccrba | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | ccrba | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | ccrba | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | ccrba | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | ccrba | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | ccrba | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | ccrba | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | ccrba | pinocchio_plain | 16 | float32 | validated | 15.34 | 15.257 | 15.484 | — | — | — | — | — |
| g1 | ccrba | pinocchio_plain | 32 | float32 | validated | 19.882 | 19.869 | 19.946 | — | — | — | — | — |
| g1 | ccrba | pinocchio_plain | 64 | float32 | validated | 29.735 | 29.292 | 29.834 | — | — | — | — | — |
| g1 | ccrba | pinocchio_plain | 128 | float32 | validated | 48.867 | 42.985 | 48.931 | — | — | — | — | — |
| g1 | ccrba | pinocchio_plain | 256 | float32 | validated | 86.406 | 80.344 | 93.701 | — | — | — | — | — |
| g1 | ccrba | pinocchio_plain | 1024 | float32 | validated | 490.932 | 282.797 | 527.886 | — | — | — | — | — |
| g1 | coriolis_matrix | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | frax | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | frax | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | frax | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | frax | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | frax | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | frax | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | grid_cuda | 16 | float32 | validated | 135.525 | 135.434 | 135.79 | 130.627 | 130.607 | 131.938 | — | — |
| g1 | coriolis_matrix | grid_cuda | 32 | float32 | validated | 138.054 | 137.959 | 138.185 | 130.196 | 130.162 | 130.226 | — | — |
| g1 | coriolis_matrix | grid_cuda | 64 | float32 | validated | 141.937 | 141.906 | 144.412 | 130.386 | 130.372 | 130.443 | — | — |
| g1 | coriolis_matrix | grid_cuda | 128 | float32 | validated | 165.496 | 163.814 | 166.046 | 129.953 | 129.947 | 129.993 | — | — |
| g1 | coriolis_matrix | grid_cuda | 256 | float32 | validated | 312.242 | 311.157 | 312.663 | 247.532 | 247.429 | 247.608 | — | — |
| g1 | coriolis_matrix | grid_cuda | 1024 | float32 | validated | 1087.365 | 1086.057 | 1089.718 | 841.845 | 841.784 | 841.935 | — | — |
| g1 | coriolis_matrix | grid_jax | 16 | float32 | validated | 361.639 | 280.316 | 382.675 | 222.188 | 214.617 | 313.815 | — | — |
| g1 | coriolis_matrix | grid_jax | 32 | float32 | validated | 332.422 | 316.576 | 416.039 | 198.104 | 167.934 | 231.957 | — | — |
| g1 | coriolis_matrix | grid_jax | 64 | float32 | validated | 372.954 | 332.688 | 392.433 | 223.017 | 182.561 | 236.114 | — | — |
| g1 | coriolis_matrix | grid_jax | 128 | float32 | validated | 412.834 | 371.553 | 435.406 | 205.919 | 199.529 | 215.806 | — | — |
| g1 | coriolis_matrix | grid_jax | 256 | float32 | validated | 464.75 | 438.368 | 479.942 | 216.582 | 194.948 | 284.808 | — | — |
| g1 | coriolis_matrix | grid_jax | 1024 | float32 | validated | 1754.834 | 1665.98 | 1784.898 | 685.296 | 661.486 | 743.199 | — | — |
| g1 | coriolis_matrix | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| g1 | coriolis_matrix | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | coriolis_matrix | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | coriolis_matrix | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | coriolis_matrix | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | coriolis_matrix | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | coriolis_matrix | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| g1 | coriolis_matrix | pinocchio_plain | 16 | float32 | validated | 24.173 | 24.077 | 24.311 | — | — | — | — | — |
| g1 | coriolis_matrix | pinocchio_plain | 32 | float32 | validated | 38.144 | 37.747 | 38.424 | — | — | — | — | — |
| g1 | coriolis_matrix | pinocchio_plain | 64 | float32 | validated | 65.154 | 61.995 | 65.313 | — | — | — | — | — |
| g1 | coriolis_matrix | pinocchio_plain | 128 | float32 | validated | 121.621 | 110.873 | 121.845 | — | — | — | — | — |
| g1 | coriolis_matrix | pinocchio_plain | 256 | float32 | validated | 231.206 | 211.489 | 408.228 | — | — | — | — | — |
| g1 | coriolis_matrix | pinocchio_plain | 1024 | float32 | validated | 999.359 | 809.398 | 1003.114 | — | — | — | — | — |
| g1 | crba | bard | 16 | float32 | validated | 5423.421 | 5378.766 | 5465.055 | 5354.428 | 5300.97 | 5367.654 | — | — |
| g1 | crba | bard | 32 | float32 | validated | 5423.139 | 5408.231 | 5507.354 | 5344.286 | 5300.738 | 5386.428 | — | — |
| g1 | crba | bard | 64 | float32 | validated | 5464.828 | 5439.38 | 5510.621 | 5350.393 | 5337.72 | 5354.207 | — | — |
| g1 | crba | bard | 128 | float32 | validated | 5538.439 | 5486.005 | 5574.259 | 5338.537 | 5324.42 | 5389.956 | — | — |
| g1 | crba | bard | 256 | float32 | validated | 5558.013 | 5551.32 | 5618.209 | 5365.385 | 5344.752 | 5365.502 | — | — |
| g1 | crba | bard | 1024 | float32 | validated | 5853.933 | 5812.697 | 5973.715 | 5473.392 | 5334.727 | 5509.398 | — | — |
| g1 | crba | frax | 16 | float32 | validated | 293.459 | 280.058 | 456.186 | 199.217 | 178.395 | 400.109 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| g1 | crba | frax | 32 | float32 | validated | 392.267 | 349.471 | 397.339 | 155.548 | 149.349 | 344.206 | — | — |
| g1 | crba | frax | 64 | float32 | validated | 368.921 | 335.489 | 371.805 | 199.441 | 145.106 | 221.746 | — | — |
| g1 | crba | frax | 128 | float32 | validated | 436.169 | 408.292 | 588.308 | 152.339 | 146.75 | 324.716 | — | — |
| g1 | crba | frax | 256 | float32 | validated | 630.48 | 558.356 | 679.459 | 308.98 | 141.13 | 489.333 | — | — |
| g1 | crba | frax | 1024 | float32 | validated | 1424.481 | 1077.399 | 1445.719 | 357.484 | 239.46 | 405.464 | — | — |
| g1 | crba | grid_cuda | 16 | float32 | validated | 41.82 | 41.795 | 41.885 | 34.269 | 34.239 | 34.306 | — | — |
| g1 | crba | grid_cuda | 32 | float32 | validated | 44.229 | 44.2 | 44.239 | 34.175 | 34.172 | 34.294 | — | — |
| g1 | crba | grid_cuda | 64 | float32 | validated | 48.112 | 48.071 | 48.115 | 33.801 | 33.773 | 33.929 | — | — |
| g1 | crba | grid_cuda | 128 | float32 | validated | 71.133 | 70.993 | 71.335 | 33.992 | 33.992 | 34.172 | — | — |
| g1 | crba | grid_cuda | 256 | float32 | validated | 101.61 | 100.478 | 102.337 | 34.921 | 34.908 | 35.078 | — | — |
| g1 | crba | grid_cuda | 1024 | float32 | validated | 369.758 | 366.461 | 371.35 | 119.723 | 119.707 | 120.205 | — | — |
| g1 | crba | grid_jax | 16 | float32 | validated | 234.297 | 149.985 | 310.828 | 61.159 | 59.807 | 62.497 | — | — |
| g1 | crba | grid_jax | 32 | float32 | validated | 183.027 | 161.004 | 277.333 | 69.328 | 59.776 | 71.083 | — | — |
| g1 | crba | grid_jax | 64 | float32 | validated | 212.748 | 195.168 | 425.77 | 70.22 | 62.231 | 71.274 | — | — |
| g1 | crba | grid_jax | 128 | float32 | validated | 256.791 | 227.37 | 317.857 | 69.093 | 59.268 | 70.053 | — | — |
| g1 | crba | grid_jax | 256 | float32 | validated | 434.167 | 325.563 | 458.577 | 61.963 | 61.444 | 70.524 | — | — |
| g1 | crba | grid_jax | 1024 | float32 | validated | 1160.42 | 941.118 | 1474.009 | 168.613 | 166.647 | 212.592 | — | — |
| g1 | crba | mjx | 16 | float32 | validated | 435.278 | 423.906 | 671.942 | 223.017 | 164.698 | 375.877 | — | — |
| g1 | crba | mjx | 32 | float32 | validated | 438.734 | 379.282 | 457.549 | 142.729 | 128.013 | 151.7 | — | — |
| g1 | crba | mjx | 64 | float32 | validated | 568.267 | 471.782 | 651.621 | 153.813 | 142.922 | 340.55 | — | — |
| g1 | crba | mjx | 128 | float32 | validated | 600.249 | 460.516 | 685.593 | 191.54 | 184.004 | 241.193 | — | — |
| g1 | crba | mjx | 256 | float32 | validated | 676.766 | 671.3 | 709.164 | 209.212 | 181.36 | 227.632 | — | — |
| g1 | crba | mjx | 1024 | float32 | validated | 1495.734 | 1375.984 | 1515.272 | 284.146 | 216.187 | 334.15 | — | — |
| g1 | crba | mujoco_cpu | 16 | float64 | validated | 76.225 | 75.361 | 76.228 | — | — | — | — | — |
| g1 | crba | mujoco_cpu | 32 | float64 | validated | 153.154 | 153.142 | 159.082 | — | — | — | — | — |
| g1 | crba | mujoco_cpu | 64 | float64 | validated | 317.909 | 316.063 | 325.101 | — | — | — | — | — |
| g1 | crba | mujoco_cpu | 128 | float64 | validated | 678.564 | 676.731 | 693.907 | — | — | — | — | — |
| g1 | crba | mujoco_cpu | 256 | float64 | validated | 1389.703 | 1385.587 | 1425.748 | — | — | — | — | — |
| g1 | crba | mujoco_cpu | 1024 | float64 | validated | 7779.526 | 7743.813 | 7948.181 | — | — | — | — | — |
| g1 | crba | mujoco_warp | 16 | float32 | validated | 118.457 | 118.169 | 118.629 | 71.377 | 71.319 | 71.461 | — | — |
| g1 | crba | mujoco_warp | 32 | float32 | validated | 137.974 | 137.781 | 138.629 | 77.74 | 77.615 | 77.774 | — | — |
| g1 | crba | mujoco_warp | 64 | float32 | validated | 179.592 | 179.239 | 180.585 | 84.707 | 84.684 | 84.83 | — | — |
| g1 | crba | mujoco_warp | 128 | float32 | validated | 248.089 | 247.919 | 248.798 | 94.608 | 94.573 | 94.708 | — | — |
| g1 | crba | mujoco_warp | 256 | float32 | validated | 325.678 | 325.456 | 325.775 | 103.207 | 103.156 | 103.304 | — | — |
| g1 | crba | mujoco_warp | 1024 | float32 | validated | 830.536 | 793.8 | 875.474 | 116.539 | 116.437 | 116.559 | — | — |
| g1 | crba | pinocchio | 16 | float32 | validated | 15.993 | 15.984 | 16.055 | — | — | — | — | — |
| g1 | crba | pinocchio | 32 | float32 | validated | 21.73 | 21.702 | 21.901 | — | — | — | — | — |
| g1 | crba | pinocchio | 64 | float32 | validated | 33.394 | 33.153 | 33.421 | — | — | — | — | — |
| g1 | crba | pinocchio | 128 | float32 | validated | 55.335 | 55.069 | 55.548 | — | — | — | — | — |
| g1 | crba | pinocchio | 256 | float32 | validated | 101.059 | 100.651 | 296.696 | — | — | — | — | — |
| g1 | crba | pinocchio | 1024 | float32 | validated | 508.226 | 498.625 | 531.557 | — | — | — | — | — |
| g1 | crba | pinocchio_plain | 16 | float32 | validated | 22.38 | 22.172 | 23.909 | — | — | — | — | — |
| g1 | crba | pinocchio_plain | 32 | float32 | validated | 35.164 | 34.073 | 43.674 | — | — | — | — | — |
| g1 | crba | pinocchio_plain | 64 | float32 | validated | 62.003 | 61.718 | 63.624 | — | — | — | — | — |
| g1 | crba | pinocchio_plain | 128 | float32 | validated | 116.328 | 116.06 | 134.072 | — | — | — | — | — |
| g1 | crba | pinocchio_plain | 256 | float32 | validated | 220.151 | 217.354 | 220.172 | — | — | — | — | — |
| g1 | crba | pinocchio_plain | 1024 | float32 | validated | 1000.881 | 840.871 | 1006.029 | — | — | — | — | — |
| g1 | end_effector_pose | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose | frax | 16 | float32 | validated | 396.196 | 238.989 | 545.288 | 87.658 | 80.957 | 87.909 | — | — |
| g1 | end_effector_pose | frax | 32 | float32 | validated | 339.344 | 322.913 | 439.721 | 89.774 | 80.589 | 90.651 | — | — |
| g1 | end_effector_pose | frax | 64 | float32 | validated | 235.453 | 221.653 | 269.157 | 84.061 | 83.619 | 100.489 | — | — |
| g1 | end_effector_pose | frax | 128 | float32 | validated | 236.556 | 233.905 | 402.317 | 83.126 | 82.902 | 94.069 | — | — |
| g1 | end_effector_pose | frax | 256 | float32 | validated | 374.201 | 243.948 | 400.325 | 93.633 | 85.048 | 93.822 | — | — |
| g1 | end_effector_pose | frax | 1024 | float32 | validated | 487.035 | 340.878 | 604.832 | 252.178 | 101.055 | 402.778 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| g1 | end_effector_pose | grid_cuda | 16 | float32 | validated | 41.281 | 41.25 | 41.352 | 31.839 | 31.825 | 31.876 | — | — |
| g1 | end_effector_pose | grid_cuda | 32 | float32 | validated | 41.607 | 41.542 | 41.624 | 31.676 | 31.647 | 31.688 | — | — |
| g1 | end_effector_pose | grid_cuda | 64 | float32 | validated | 42.069 | 41.989 | 42.224 | 31.656 | 31.645 | 31.733 | — | — |
| g1 | end_effector_pose | grid_cuda | 128 | float32 | validated | 42.573 | 42.561 | 42.708 | 31.568 | 31.567 | 31.64 | — | — |
| g1 | end_effector_pose | grid_cuda | 256 | float32 | validated | 44.227 | 44.139 | 44.248 | 31.911 | 31.812 | 32.685 | — | — |
| g1 | end_effector_pose | grid_cuda | 1024 | float32 | validated | 89.084 | 89.074 | 89.425 | 65.758 | 65.484 | 65.769 | — | — |
| g1 | end_effector_pose | grid_jax | 16 | float32 | validated | 137.709 | 131.881 | 159.297 | 68.033 | 60.39 | 69.179 | — | — |
| g1 | end_effector_pose | grid_jax | 32 | float32 | validated | 180.172 | 136.063 | 193.09 | 57.628 | 57.525 | 66.307 | — | — |
| g1 | end_effector_pose | grid_jax | 64 | float32 | validated | 136.723 | 134.333 | 281.858 | 66.383 | 58.367 | 105.52 | — | — |
| g1 | end_effector_pose | grid_jax | 128 | float32 | validated | 134.122 | 133.989 | 197.577 | 65.12 | 57.582 | 66.029 | — | — |
| g1 | end_effector_pose | grid_jax | 256 | float32 | validated | 141.644 | 139.376 | 291.941 | 65.968 | 56.377 | 103.611 | — | — |
| g1 | end_effector_pose | grid_jax | 1024 | float32 | validated | 245.117 | 194.533 | 257.433 | 92.857 | 92.851 | 99.519 | — | — |
| g1 | end_effector_pose | mjx | 16 | float32 | validated | 297.407 | 255.432 | 400.242 | 74.663 | 74.14 | 75.145 | — | — |
| g1 | end_effector_pose | mjx | 32 | float32 | validated | 253.774 | 215.268 | 377.8 | 78.136 | 77.308 | 122.175 | — | — |
| g1 | end_effector_pose | mjx | 64 | float32 | validated | 353.383 | 225.087 | 360.246 | 90.545 | 82.528 | 93.143 | — | — |
| g1 | end_effector_pose | mjx | 128 | float32 | validated | 382.427 | 216.183 | 428.872 | 78.771 | 76.9 | 86.934 | — | — |
| g1 | end_effector_pose | mjx | 256 | float32 | validated | 368.395 | 235.746 | 445.402 | 101.518 | 101.148 | 105.637 | — | — |
| g1 | end_effector_pose | mjx | 1024 | float32 | validated | 414.601 | 358.505 | 460.111 | 72.93 | 71.399 | 265.164 | — | — |
| g1 | end_effector_pose | mujoco_cpu | 16 | float64 | validated | 98.626 | 97.925 | 100.124 | — | — | — | — | — |
| g1 | end_effector_pose | mujoco_cpu | 32 | float64 | validated | 197.165 | 196.744 | 200.514 | — | — | — | — | — |
| g1 | end_effector_pose | mujoco_cpu | 64 | float64 | validated | 393.471 | 386.891 | 400.804 | — | — | — | — | — |
| g1 | end_effector_pose | mujoco_cpu | 128 | float64 | validated | 814.396 | 787.738 | 826.504 | — | — | — | — | — |
| g1 | end_effector_pose | mujoco_cpu | 256 | float64 | validated | 1675.475 | 1616.457 | 1704.241 | — | — | — | — | — |
| g1 | end_effector_pose | mujoco_cpu | 1024 | float64 | validated | 6601.951 | 6573.792 | 6934.143 | — | — | — | — | — |
| g1 | end_effector_pose | mujoco_warp | 16 | float32 | validated | 56.565 | 56.299 | 70.628 | 26.49 | 26.471 | 26.521 | — | — |
| g1 | end_effector_pose | mujoco_warp | 32 | float32 | validated | 58.78 | 58.139 | 59.927 | 28.554 | 28.468 | 33.583 | — | — |
| g1 | end_effector_pose | mujoco_warp | 64 | float32 | validated | 60.444 | 60.424 | 61.797 | 29.463 | 29.436 | 29.68 | — | — |
| g1 | end_effector_pose | mujoco_warp | 128 | float32 | validated | 62.76 | 62.57 | 63.723 | 30.292 | 30.235 | 30.485 | — | — |
| g1 | end_effector_pose | mujoco_warp | 256 | float32 | validated | 68.912 | 67.884 | 69.223 | 31.116 | 31.005 | 31.225 | — | — |
| g1 | end_effector_pose | mujoco_warp | 1024 | float32 | validated | 80.944 | 80.678 | 81.692 | 33.397 | 33.169 | 33.495 | — | — |
| g1 | end_effector_pose | pinocchio | 16 | float64 | validated | 13.453 | 13.252 | 14.487 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio | 32 | float64 | validated | 17.642 | 16.948 | 23.084 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio | 64 | float64 | validated | 24.389 | 24.325 | 25.096 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio | 128 | float64 | validated | 39.831 | 38.944 | 40.469 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio | 256 | float64 | validated | 67.566 | 67.389 | 69.977 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio | 1024 | float64 | validated | 398.287 | 380.133 | 408.784 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio_plain | 16 | float64 | validated | 13.504 | 13.362 | 13.644 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio_plain | 32 | float64 | validated | 17.338 | 17.073 | 17.559 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio_plain | 64 | float64 | validated | 24.85 | 24.718 | 24.983 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio_plain | 128 | float64 | validated | 39.616 | 39.279 | 77.563 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio_plain | 256 | float64 | validated | 54.962 | 53.035 | 66.727 | — | — | — | — | — |
| g1 | end_effector_pose | pinocchio_plain | 1024 | float64 | validated | 363.077 | 340.167 | 364.961 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose_gradient | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose_gradient | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose_gradient | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose_gradient | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose_gradient | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | end_effector_pose_gradient | frax | 16 | float32 | validated | 407.281 | 388.434 | 488.491 | 264.033 | 233.524 | 475.005 | — | — |
| g1 | end_effector_pose_gradient | frax | 32 | float32 | validated | 595.212 | 481.695 | 616.699 | 400.692 | 307.847 | 425.5 | — | — |
| g1 | end_effector_pose_gradient | frax | 64 | float32 | validated | 442.844 | 429.319 | 570.342 | 392.551 | 380.651 | 563.047 | — | — |
| g1 | end_effector_pose_gradient | frax | 128 | float32 | validated | 618.833 | 550.81 | 808.235 | 489.043 | 370.271 | 596.083 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| g1 | end_effector_pose_gradient | frax | 256 | float32 | validated | 796.15 | 791.745 | 813.076 | 547.425 | 501.418 | 561.235 | — | — |
| g1 | end_effector_pose_gradient | frax | 1024 | float32 | validated | 1509.638 | 1504.066 | 1566.611 | 1185.567 | 953.185 | 1330.487 | — | — |
| g1 | end_effector_pose_gradient | grid_cuda | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_gradient | grid_cuda | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_gradient | grid_cuda | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_gradient | grid_cuda | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_gradient | grid_cuda | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_gradient | grid_cuda | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_gradient | grid_jax | 16 | float32 | validated | 140.002 | 138.414 | 142.258 | 60.622 | 60.426 | 63.455 | — | — |
| g1 | end_effector_pose_gradient | grid_jax | 32 | float32 | validated | 156.269 | 143.148 | 406.602 | 64.954 | 61.853 | 69.377 | — | — |
| g1 | end_effector_pose_gradient | grid_jax | 64 | float32 | validated | 185.217 | 142.911 | 198.984 | 71.524 | 71.293 | 81.075 | — | — |
| g1 | end_effector_pose_gradient | grid_jax | 128 | float32 | validated | 305.836 | 157.379 | 414.121 | 62.94 | 62.27 | 73.468 | — | — |
| g1 | end_effector_pose_gradient | grid_jax | 256 | float32 | validated | 204.368 | 192.231 | 247.539 | 70.448 | 59.712 | 78.268 | — | — |
| g1 | end_effector_pose_gradient | grid_jax | 1024 | float32 | validated | 393.842 | 376.458 | 747.624 | 82.671 | 80.802 | 143.396 | — | — |
| g1 | end_effector_pose_gradient | mjx | 16 | float32 | validated | 382.102 | 269.286 | 635.019 | 137.115 | 135.373 | 444.765 | — | — |
| g1 | end_effector_pose_gradient | mjx | 32 | float32 | validated | 387.705 | 314.758 | 423.272 | 208.291 | 190.979 | 382.959 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| g1 | end_effector_pose_gradient | mjx | 64 | float32 | validated | 533.232 | 381.356 | 652.894 | 284.331 | 227.626 | 320.811 | — | — |
| g1 | end_effector_pose_gradient | mjx | 128 | float32 | validated | 419.696 | 416.025 | 428.936 | 263.801 | 225.855 | 304.275 | — | — |
| g1 | end_effector_pose_gradient | mjx | 256 | float32 | validated | 518.275 | 502.576 | 579.154 | 366.293 | 287.747 | 376.342 | — | — |
| g1 | end_effector_pose_gradient | mjx | 1024 | float32 | validated | 1579.117 | 1539.718 | 1659.064 | 1143.794 | 1006.985 | 1285.12 | — | — |
| g1 | end_effector_pose_gradient | mujoco_cpu | 16 | float64 | validated | 159.137 | 158.35 | 165.032 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | mujoco_cpu | 32 | float64 | validated | 317.425 | 316.54 | 328.671 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | mujoco_cpu | 64 | float64 | validated | 634.004 | 633.76 | 658.599 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | mujoco_cpu | 128 | float64 | validated | 1308.63 | 1283.856 | 1321.664 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | mujoco_cpu | 256 | float64 | validated | 2639.079 | 2582.023 | 2677.118 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | mujoco_cpu | 1024 | float64 | validated | 11042.905 | 10986.992 | 11101.766 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | mujoco_warp | 16 | float32 | validated | 83.389 | 83.277 | 83.451 | 51.562 | 51.55 | 51.632 | — | — |
| g1 | end_effector_pose_gradient | mujoco_warp | 32 | float32 | validated | 89.404 | 88.755 | 89.882 | 54.995 | 54.977 | 55.008 | — | — |
| g1 | end_effector_pose_gradient | mujoco_warp | 64 | float32 | validated | 101.622 | 100.319 | 101.775 | 57.626 | 57.62 | 57.682 | — | — |
| g1 | end_effector_pose_gradient | mujoco_warp | 128 | float32 | validated | 105.199 | 104.552 | 106.05 | 60.36 | 60.322 | 60.404 | — | — |
| g1 | end_effector_pose_gradient | mujoco_warp | 256 | float32 | validated | 121.33 | 120.924 | 121.677 | 62.698 | 62.639 | 62.719 | — | — |
| g1 | end_effector_pose_gradient | mujoco_warp | 1024 | float32 | validated | 204.724 | 203.79 | 215.39 | 68.957 | 68.737 | 69.037 | — | — |
| g1 | end_effector_pose_gradient | pinocchio | 16 | float64 | validated | 15.031 | 14.982 | 15.037 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio | 32 | float64 | validated | 20.017 | 19.834 | 20.953 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio | 64 | float64 | validated | 29.658 | 29.308 | 29.829 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio | 128 | float64 | validated | 41.257 | 41.047 | 47.767 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio | 256 | float64 | validated | 74.745 | 74.003 | 86.524 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio | 1024 | float64 | validated | 497.902 | 440.696 | 502.53 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio_plain | 16 | float64 | validated | 14.98 | 14.972 | 15.29 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio_plain | 32 | float64 | validated | 20.159 | 19.652 | 20.712 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio_plain | 64 | float64 | validated | 29.481 | 29.357 | 29.84 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio_plain | 128 | float64 | validated | 42.369 | 41.281 | 48.567 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio_plain | 256 | float64 | validated | 79.703 | 75.223 | 89.476 | — | — | — | — | — |
| g1 | end_effector_pose_gradient | pinocchio_plain | 1024 | float64 | validated | 452.197 | 264.153 | 478.85 | — | — | — | — | — |
| g1 | end_effector_pose_hessian | bard | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | bard | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | bard | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | bard | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | bard | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | bard | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | frax | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | frax | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | frax | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | frax | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | frax | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | frax | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | grid_cuda | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_hessian | grid_cuda | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_hessian | grid_cuda | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_hessian | grid_cuda | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_hessian | grid_cuda | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_hessian | grid_cuda | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| g1 | end_effector_pose_hessian | grid_jax | 16 | float32 | validated | 254.268 | 251.211 | 264.545 | 74.535 | 72.878 | 84.66 | — | — |
| g1 | end_effector_pose_hessian | grid_jax | 32 | float32 | validated | 278.172 | 272.248 | 314.246 | 71.908 | 64.085 | 73.902 | — | — |
| g1 | end_effector_pose_hessian | grid_jax | 64 | float32 | validated | 473.855 | 453.596 | 563.473 | 84.633 | 74.096 | 86.614 | — | — |
| g1 | end_effector_pose_hessian | grid_jax | 128 | float32 | validated | 1117.285 | 892.722 | 1330.66 | 75.488 | 66.261 | 76.793 | — | — |
| g1 | end_effector_pose_hessian | grid_jax | 256 | float32 | validated | 1730.081 | 1694.166 | 1947.296 | 94.134 | 81.821 | 120.324 | — | — |
| g1 | end_effector_pose_hessian | grid_jax | 1024 | float32 | validated | 4331.909 | 3806.634 | 4376.367 | 205.039 | 181.521 | 220.715 | — | — |
| g1 | end_effector_pose_hessian | mjx | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mjx | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mjx | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mjx | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mjx | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mjx | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_cpu | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_cpu | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_cpu | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_cpu | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_cpu | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_cpu | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_warp | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_warp | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_warp | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_warp | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_warp | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | mujoco_warp | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | end_effector_pose_hessian | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio_plain | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio_plain | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio_plain | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio_plain | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio_plain | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | end_effector_pose_hessian | pinocchio_plain | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| g1 | fdsva_so | bard | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | bard | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | bard | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | bard | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | bard | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | bard | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | frax | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | frax | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | frax | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | frax | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | frax | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | frax | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | grid_cuda | 16 | float32 | accuracy_warning | 2159.303 | 2154.346 | 2160.688 | 1650.768 | 1644.937 | 1651.875 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_cuda | 32 | float32 | accuracy_warning | 2687.312 | 2686.704 | 2689.561 | 1679.342 | 1673.092 | 1679.575 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_cuda | 64 | float32 | accuracy_warning | 3764.363 | 3763.725 | 3775.565 | 1755.601 | 1750.214 | 1755.747 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_cuda | 128 | float32 | accuracy_warning | 6104.623 | 6103.575 | 6115.562 | 2077.187 | 2073.26 | 2078.659 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_cuda | 256 | float32 | accuracy_warning | 12165.76 | 12111.738 | 12168.692 | 4061.112 | 4060.85 | 4062.446 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_cuda | 1024 | float32 | accuracy_warning | 47685.779 | 47504.405 | 47966.876 | 14960.988 | 14948.116 | 15673.854 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_jax | 16 | float32 | accuracy_warning | 4014.078 | 3957.162 | 4032.605 | 2148.459 | 2123.452 | 2218.095 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_jax | 32 | float32 | accuracy_warning | 5219.578 | 5179.372 | 5274.583 | 2281.219 | 2192.669 | 2286.164 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_jax | 64 | float32 | accuracy_warning | 8293.013 | 8170.816 | 8610.044 | 2276.516 | 2266.697 | 2324.001 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_jax | 128 | float32 | accuracy_warning | 16578.951 | 16320.938 | 16649.141 | 2801.096 | 2723.891 | 2811.249 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_jax | 256 | float32 | accuracy_warning | 37773.555 | 35237.289 | 37835.333 | 5631.279 | 4984.143 | 5702.579 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | grid_jax | 1024 | float32 | accuracy_warning | 142191.542 | 140507.88 | 155027.765 | 18038.118 | 18010.784 | 18171.549 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | fdsva_so | mjx | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mjx | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mjx | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mjx | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mjx | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mjx | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_cpu | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_cpu | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_cpu | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_cpu | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_cpu | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_cpu | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_warp | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_warp | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_warp | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_warp | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_warp | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | mujoco_warp | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| g1 | fdsva_so | pinocchio | 16 | float64 | validated | 3357.909 | 3343.635 | 3426.067 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio | 32 | float64 | validated | 7661.95 | 7416.152 | 7777.262 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio | 64 | float64 | validated | 13323.642 | 12500.739 | 13380.524 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio | 128 | float64 | validated | 27615.552 | 25594.62 | 27711.325 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio | 256 | float64 | validated | 48897.464 | 48836.093 | 50735.631 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio | 1024 | float64 | validated | 190013.944 | 189493.734 | 190418.64 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio_plain | 16 | float64 | validated | 3331.395 | 3197.153 | 3426.997 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio_plain | 32 | float64 | validated | 7623.356 | 6752.752 | 7690.756 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio_plain | 64 | float64 | validated | 12247.507 | 11992.719 | 12559.872 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio_plain | 128 | float64 | validated | 24927.984 | 24748.633 | 25837.162 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio_plain | 256 | float64 | validated | 48955.974 | 48583.865 | 48959.573 | — | — | — | — | — |
| g1 | fdsva_so | pinocchio_plain | 1024 | float64 | validated | 189957.56 | 189932.646 | 190203.874 | — | — | — | — | — |
| g1 | forward_dynamics | bard | 16 | float32 | validated | 6069.415 | 5966.552 | 6126.623 | 5977.022 | 5896.301 | 6023.712 | — | — |
| g1 | forward_dynamics | bard | 32 | float32 | validated | 6115.698 | 6037.098 | 6143.75 | 6074.098 | 5986.281 | 6080.685 | — | — |
| g1 | forward_dynamics | bard | 64 | float32 | validated | 6133.256 | 6093.646 | 6243.76 | 6169.896 | 6073.438 | 6174.3 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| g1 | forward_dynamics | bard | 128 | float32 | validated | 6260.981 | 6184.314 | 6271.004 | 6208.839 | 6112.978 | 6212.354 | — | — |
| g1 | forward_dynamics | bard | 256 | float32 | validated | 6270.789 | 6206.655 | 6293.593 | 6195.732 | 6119.614 | 6201.392 | — | — |
| g1 | forward_dynamics | bard | 1024 | float32 | validated | 6328.634 | 6234.792 | 6336.864 | 6217.803 | 6164.159 | 6246.082 | — | — |
| g1 | forward_dynamics | frax | 16 | float32 | accuracy_warning | 368.605 | 349.384 | 440.846 | 246.405 | 185.125 | 401.563 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | frax | 32 | float32 | accuracy_warning | 392.42 | 368.42 | 513.929 | 217.094 | 188.436 | 320.488 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | frax | 64 | float32 | accuracy_warning | 364.222 | 335.041 | 399.049 | 380.161 | 195.42 | 382.671 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | frax | 128 | float32 | accuracy_warning | 356.367 | 337.24 | 360.479 | 236.219 | 213.109 | 457.249 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | frax | 256 | float32 | accuracy_warning | 431.807 | 377.107 | 702.739 | 360.627 | 358.053 | 369.399 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | frax | 1024 | float32 | accuracy_warning | 963.367 | 482.089 | 967.335 | 568.043 | 534.193 | 576.853 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | grid_cuda | 16 | float32 | validated | 83.67 | 83.525 | 83.727 | 74.147 | 73.899 | 74.22 | — | — |
| g1 | forward_dynamics | grid_cuda | 32 | float32 | validated | 83.654 | 83.621 | 83.933 | 73.81 | 73.599 | 73.846 | — | — |
| g1 | forward_dynamics | grid_cuda | 64 | float32 | validated | 83.596 | 83.561 | 83.679 | 73.053 | 73.022 | 73.116 | — | — |
| g1 | forward_dynamics | grid_cuda | 128 | float32 | validated | 84.554 | 84.49 | 84.726 | 73.413 | 73.41 | 73.466 | — | — |
| g1 | forward_dynamics | grid_cuda | 256 | float32 | validated | 151.853 | 151.642 | 152.137 | 139.116 | 139.019 | 139.378 | — | — |
| g1 | forward_dynamics | grid_cuda | 1024 | float32 | validated | 487.297 | 487.078 | 488.24 | 459.261 | 459.239 | 460.314 | — | — |
| g1 | forward_dynamics | grid_jax | 16 | float32 | validated | 264.549 | 257.448 | 288.696 | 107.546 | 107.414 | 123.271 | — | — |
| g1 | forward_dynamics | grid_jax | 32 | float32 | validated | 285.741 | 260.463 | 330.31 | 108.739 | 107.789 | 108.819 | — | — |
| g1 | forward_dynamics | grid_jax | 64 | float32 | validated | 283.072 | 265.013 | 314.776 | 115.927 | 107.825 | 135.367 | — | — |
| g1 | forward_dynamics | grid_jax | 128 | float32 | validated | 278.186 | 262.771 | 307.648 | 107.672 | 107.51 | 109.271 | — | — |
| g1 | forward_dynamics | grid_jax | 256 | float32 | validated | 404.914 | 344.968 | 437.689 | 207.68 | 206.458 | 232.609 | — | — |
| g1 | forward_dynamics | grid_jax | 1024 | float32 | validated | 821.464 | 809.445 | 1155.382 | 637.201 | 635.331 | 640.892 | — | — |
| g1 | forward_dynamics | mjx | 16 | float32 | accuracy_warning | 602.042 | 539.239 | 608.693 | 368.523 | 314.673 | 380.123 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mjx | 32 | float32 | accuracy_warning | 770.395 | 640.059 | 987.115 | 375.807 | 351.054 | 490.287 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mjx | 64 | float32 | accuracy_warning | 639.686 | 571.317 | 861.363 | 366.898 | 293.176 | 503.149 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mjx | 128 | float32 | accuracy_warning | 826.732 | 748.873 | 873.289 | 417.707 | 303.053 | 500.695 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mjx | 256 | float32 | accuracy_warning | 853.951 | 781.521 | 919.938 | 545.616 | 432.869 | 555.945 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mjx | 1024 | float32 | accuracy_warning | 1265.918 | 1226.964 | 1282.645 | 788.233 | 787.452 | 847.429 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mujoco_cpu | 16 | float64 | validated | 78.662 | 77.912 | 81.65 | — | — | — | — | — |
| g1 | forward_dynamics | mujoco_cpu | 32 | float64 | validated | 157.651 | 155.823 | 164.513 | — | — | — | — | — |
| g1 | forward_dynamics | mujoco_cpu | 64 | float64 | validated | 328.461 | 325.478 | 336.532 | — | — | — | — | — |
| g1 | forward_dynamics | mujoco_cpu | 128 | float64 | validated | 680.44 | 678.302 | 695.273 | — | — | — | — | — |
| g1 | forward_dynamics | mujoco_cpu | 256 | float64 | validated | 1376.507 | 1372.895 | 1416.666 | — | — | — | — | — |
| g1 | forward_dynamics | mujoco_cpu | 1024 | float64 | validated | 8204.73 | 8140.289 | 8344.023 | — | — | — | — | — |
| g1 | forward_dynamics | mujoco_warp | 16 | float32 | accuracy_warning | 331.292 | 330.937 | 331.377 | 299.833 | 299.749 | 300.159 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mujoco_warp | 32 | float32 | accuracy_warning | 343.206 | 343.143 | 343.66 | 309.977 | 309.859 | 310.207 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mujoco_warp | 64 | float32 | accuracy_warning | 361.489 | 360.402 | 363.482 | 328.154 | 327.878 | 328.58 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mujoco_warp | 128 | float32 | accuracy_warning | 381.538 | 381.007 | 382.691 | 347.048 | 346.956 | 347.325 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mujoco_warp | 256 | float32 | accuracy_warning | 417.605 | 417.163 | 417.975 | 375.676 | 375.532 | 376.298 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | mujoco_warp | 1024 | float32 | accuracy_warning | 482.042 | 481.391 | 482.291 | 419.316 | 419.252 | 419.489 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | pinocchio | 16 | float32 | accuracy_warning | 25.137 | 25.061 | 25.223 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | pinocchio | 32 | float32 | accuracy_warning | 39.447 | 39.282 | 39.545 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | pinocchio | 64 | float32 | accuracy_warning | 68.646 | 59.297 | 70.317 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | pinocchio | 128 | float32 | accuracy_warning | 127.454 | 108.614 | 314.1 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | pinocchio | 256 | float32 | accuracy_warning | 436.73 | 412.416 | 438.975 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | pinocchio | 1024 | float32 | accuracy_warning | 996.941 | 798.463 | 1006.014 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics | pinocchio_plain | 16 | float32 | validated | 22.6 | 22.466 | 22.723 | — | — | — | — | — |
| g1 | forward_dynamics | pinocchio_plain | 32 | float32 | validated | 35.074 | 34.545 | 35.869 | — | — | — | — | — |
| g1 | forward_dynamics | pinocchio_plain | 64 | float32 | validated | 58.799 | 58.634 | 59.084 | — | — | — | — | — |
| g1 | forward_dynamics | pinocchio_plain | 128 | float32 | validated | 108.363 | 107.457 | 284.192 | — | — | — | — | — |
| g1 | forward_dynamics | pinocchio_plain | 256 | float32 | validated | 371.854 | 366.511 | 403.624 | — | — | — | — | — |
| g1 | forward_dynamics | pinocchio_plain | 1024 | float32 | validated | 946.919 | 931.173 | 948.833 | — | — | — | — | — |
| g1 | forward_dynamics_gradient | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | forward_dynamics_gradient | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | forward_dynamics_gradient | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | forward_dynamics_gradient | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | forward_dynamics_gradient | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | forward_dynamics_gradient | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | forward_dynamics_gradient | frax | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| g1 | forward_dynamics_gradient | frax | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| g1 | forward_dynamics_gradient | frax | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| g1 | forward_dynamics_gradient | frax | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| g1 | forward_dynamics_gradient | frax | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| g1 | forward_dynamics_gradient | frax | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| g1 | forward_dynamics_gradient | grid_cuda | 16 | float32 | accuracy_warning | 203.037 | 202.925 | 203.603 | 189.697 | 189.398 | 190.353 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_cuda | 32 | float32 | accuracy_warning | 207.266 | 207.148 | 207.403 | 189.533 | 189.483 | 189.73 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_cuda | 64 | float32 | accuracy_warning | 229.176 | 228.327 | 229.364 | 188.381 | 188.254 | 188.584 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_cuda | 128 | float32 | accuracy_warning | 263.831 | 263.611 | 264.368 | 195.936 | 195.933 | 196.001 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_cuda | 256 | float32 | accuracy_warning | 368.388 | 368.084 | 369.905 | 240.882 | 240.733 | 241.324 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_cuda | 1024 | float32 | accuracy_warning | 1355.372 | 1355.053 | 1360.631 | 878.81 | 878.411 | 880.082 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_jax | 16 | float32 | accuracy_warning | 453.556 | 444.574 | 459.348 | 209.871 | 198.239 | 233.421 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_jax | 32 | float32 | accuracy_warning | 418.056 | 397.261 | 482.364 | 204.576 | 195.106 | 205.7 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_jax | 64 | float32 | accuracy_warning | 436.405 | 434.28 | 456.271 | 195.188 | 194.382 | 196.922 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_jax | 128 | float32 | accuracy_warning | 538.935 | 535.984 | 573.809 | 249.983 | 248.796 | 260.156 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_jax | 256 | float32 | accuracy_warning | 837.577 | 837.398 | 838.324 | 297.413 | 296.732 | 307.204 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | grid_jax | 1024 | float32 | accuracy_warning | 3133.976 | 3038.307 | 3148.791 | 1165.164 | 1157.731 | 1275.503 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | mjx | 16 | float32 | accuracy_warning | 1880.586 | 1491.884 | 2040.542 | 1517.842 | 1172.054 | 1991.913 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | mjx | 32 | float32 | accuracy_warning | 2263.608 | 2196.566 | 2352.977 | 2326.8 | 2042.143 | 2329.613 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | mjx | 64 | float32 | accuracy_warning | 2599.278 | 2428.981 | 2833.377 | 2648.662 | 2243.911 | 3110.515 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | mjx | 128 | float32 | accuracy_warning | 3509.201 | 3362.594 | 3764.325 | 3393.597 | 3060.346 | 4133.62 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | mjx | 256 | float32 | accuracy_warning | 4866.913 | 4827.85 | 6297.804 | 5130.6 | 4117.469 | 5471.758 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | mjx | 1024 | float32 | accuracy_warning | 14459.683 | 12849.379 | 14537.368 | 12212.959 | 12152.329 | 12222.021 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| g1 | forward_dynamics_gradient | pinocchio | 16 | float32 | accuracy_warning | 58.043 | 51.923 | 58.47 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio | 32 | float32 | accuracy_warning | 94.1 | 93.623 | 104.836 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio | 64 | float32 | accuracy_warning | 336.301 | 174.961 | 452.825 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio | 128 | float32 | accuracy_warning | 337.574 | 336.221 | 545.453 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio | 256 | float32 | accuracy_warning | 899.102 | 662.262 | 911.803 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio | 1024 | float32 | accuracy_warning | 2933.85 | 2910.423 | 3248.391 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio_plain | 16 | float32 | accuracy_warning | 55.782 | 55.485 | 56.122 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio_plain | 32 | float32 | accuracy_warning | 100.548 | 95.439 | 278.227 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio_plain | 64 | float32 | accuracy_warning | 341.593 | 175.551 | 397.875 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio_plain | 128 | float32 | accuracy_warning | 518.663 | 335.827 | 523.536 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio_plain | 256 | float32 | accuracy_warning | 907.13 | 904.265 | 910.378 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | forward_dynamics_gradient | pinocchio_plain | 1024 | float32 | accuracy_warning | 3004.899 | 2938.553 | 3050.904 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | generalized_gravity | bard | 16 | float32 | validated | 2729.998 | 2685.669 | 2743.477 | 2683.363 | 2629.452 | 2705.955 | — | — |
| g1 | generalized_gravity | bard | 32 | float32 | validated | 2787.994 | 2727.694 | 2818.18 | 2713.855 | 2666.891 | 2743.033 | — | — |
| g1 | generalized_gravity | bard | 64 | float32 | validated | 2786.484 | 2732.6 | 2812.416 | 2737.421 | 2683.836 | 2765.161 | — | — |
| g1 | generalized_gravity | bard | 128 | float32 | validated | 2818.543 | 2761.021 | 2822.471 | 2745.622 | 2688.527 | 2759.613 | — | — |
| g1 | generalized_gravity | bard | 256 | float32 | validated | 2812.486 | 2761.614 | 2835.842 | 2735.216 | 2689.493 | 2757.013 | — | — |
| g1 | generalized_gravity | bard | 1024 | float32 | validated | 2907.308 | 2864.171 | 2938.964 | 2794.353 | 2744.637 | 2828.628 | — | — |
| g1 | generalized_gravity | frax | 16 | float32 | validated | 267.834 | 252.443 | 289.125 | 170.829 | 151.151 | 175.284 | — | — |
| g1 | generalized_gravity | frax | 32 | float32 | validated | 265.157 | 250.236 | 329.736 | 127.671 | 124.33 | 128.01 | — | — |
| g1 | generalized_gravity | frax | 64 | float32 | validated | 292.161 | 272.096 | 750.751 | 208.265 | 176.141 | 233.523 | — | — |
| g1 | generalized_gravity | frax | 128 | float32 | validated | 451.966 | 422.851 | 471.532 | 163.522 | 146.556 | 333.858 | — | — |
| g1 | generalized_gravity | frax | 256 | float32 | validated | 376.746 | 359.928 | 388.868 | 147.673 | 137.917 | 299.651 | — | — |
| g1 | generalized_gravity | frax | 1024 | float32 | validated | 526.509 | 502.267 | 813.719 | 227.459 | 185.645 | 244.649 | — | — |
| g1 | generalized_gravity | grid_cuda | 16 | float32 | validated | 45.535 | 45.353 | 45.585 | 39.607 | 39.587 | 39.622 | — | — |
| g1 | generalized_gravity | grid_cuda | 32 | float32 | validated | 45.591 | 45.532 | 45.604 | 39.189 | 39.152 | 39.205 | — | — |
| g1 | generalized_gravity | grid_cuda | 64 | float32 | validated | 46.07 | 45.992 | 46.078 | 39.295 | 39.285 | 39.314 | — | — |
| g1 | generalized_gravity | grid_cuda | 128 | float32 | validated | 46.334 | 45.816 | 46.404 | 38.618 | 38.536 | 38.65 | — | — |
| g1 | generalized_gravity | grid_cuda | 256 | float32 | validated | 47.534 | 47.325 | 49.669 | 37.473 | 37.462 | 37.478 | — | — |
| g1 | generalized_gravity | grid_cuda | 1024 | float32 | validated | 150.145 | 149.927 | 150.532 | 123.505 | 123.498 | 123.543 | — | — |
| g1 | generalized_gravity | grid_jax | 16 | float32 | validated | 162.54 | 141.355 | 386.514 | 65.4 | 63.795 | 65.554 | — | — |
| g1 | generalized_gravity | grid_jax | 32 | float32 | validated | 142.283 | 141.531 | 166.015 | 64.182 | 63.541 | 72.94 | — | — |
| g1 | generalized_gravity | grid_jax | 64 | float32 | validated | 200.908 | 144.053 | 561.827 | 66.334 | 64.109 | 75.534 | — | — |
| g1 | generalized_gravity | grid_jax | 128 | float32 | validated | 280.71 | 139.758 | 380.768 | 65.165 | 63.793 | 82.375 | — | — |
| g1 | generalized_gravity | grid_jax | 256 | float32 | validated | 146.04 | 143.884 | 203.912 | 65.117 | 61.968 | 80.832 | — | — |
| g1 | generalized_gravity | grid_jax | 1024 | float32 | validated | 563.128 | 517.753 | 703.448 | 409.52 | 191.6 | 422.941 | — | — |
| g1 | generalized_gravity | mjx | 16 | float32 | validated | 561.659 | 441.935 | 581.345 | 298.04 | 284.961 | 329.429 | — | — |
| g1 | generalized_gravity | mjx | 32 | float32 | validated | 642.518 | 622.312 | 695.147 | 278.536 | 277.825 | 314.709 | — | — |
| g1 | generalized_gravity | mjx | 64 | float32 | validated | 607.44 | 584.144 | 610.868 | 272.355 | 252.789 | 272.947 | — | — |
| g1 | generalized_gravity | mjx | 128 | float32 | validated | 739.302 | 675.035 | 744.363 | 318.096 | 244.552 | 329.105 | — | — |
| g1 | generalized_gravity | mjx | 256 | float32 | validated | 650.182 | 642.513 | 658.573 | 351.918 | 289.411 | 357.427 | — | — |
| g1 | generalized_gravity | mjx | 1024 | float32 | validated | 1015.433 | 991.76 | 1147.452 | 550.235 | 494.646 | 575.664 | — | — |
| g1 | generalized_gravity | mujoco_cpu | 16 | float64 | validated | 82.234 | 81.31 | 82.553 | — | — | — | — | — |
| g1 | generalized_gravity | mujoco_cpu | 32 | float64 | validated | 164.113 | 162.618 | 164.567 | — | — | — | — | — |
| g1 | generalized_gravity | mujoco_cpu | 64 | float64 | validated | 338.371 | 336.623 | 340.73 | — | — | — | — | — |
| g1 | generalized_gravity | mujoco_cpu | 128 | float64 | validated | 704.587 | 703.754 | 709.379 | — | — | — | — | — |
| g1 | generalized_gravity | mujoco_cpu | 256 | float64 | validated | 1427.894 | 1420.353 | 1465.584 | — | — | — | — | — |
| g1 | generalized_gravity | mujoco_cpu | 1024 | float64 | validated | 8481.111 | 8276.97 | 8497.997 | — | — | — | — | — |
| g1 | generalized_gravity | mujoco_warp | 16 | float32 | validated | 247.131 | 246.918 | 247.618 | 212.023 | 211.966 | 212.574 | — | — |
| g1 | generalized_gravity | mujoco_warp | 32 | float32 | validated | 255.961 | 255.602 | 258.41 | 224.101 | 224.1 | 224.275 | — | — |
| g1 | generalized_gravity | mujoco_warp | 64 | float32 | validated | 273.361 | 273.287 | 274.988 | 241.222 | 241.219 | 241.512 | — | — |
| g1 | generalized_gravity | mujoco_warp | 128 | float32 | validated | 301.032 | 299.33 | 301.497 | 264.533 | 264.4 | 264.667 | — | — |
| g1 | generalized_gravity | mujoco_warp | 256 | float32 | validated | 327.529 | 327.318 | 327.558 | 286.788 | 286.561 | 286.934 | — | — |
| g1 | generalized_gravity | mujoco_warp | 1024 | float32 | validated | 370.838 | 370.753 | 371.39 | 314.163 | 314.104 | 314.562 | — | — |
| g1 | generalized_gravity | pinocchio | 16 | float32 | validated | 12.768 | 12.642 | 14.345 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio | 32 | float32 | validated | 14.817 | 14.549 | 14.869 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio | 64 | float32 | validated | 18.925 | 18.673 | 19.091 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio | 128 | float32 | validated | 27.946 | 27.777 | 28.325 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio | 256 | float32 | validated | 44.81 | 44.551 | 48.913 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio | 1024 | float32 | validated | 151.675 | 150.7 | 359.783 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio_plain | 16 | float32 | validated | 13.126 | 13.11 | 19.334 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio_plain | 32 | float32 | validated | 16.246 | 16.23 | 16.35 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio_plain | 64 | float32 | validated | 22.331 | 22.16 | 22.365 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio_plain | 128 | float32 | validated | 34.824 | 34.766 | 35.889 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio_plain | 256 | float32 | validated | 58.737 | 51.262 | 59.456 | — | — | — | — | — |
| g1 | generalized_gravity | pinocchio_plain | 1024 | float32 | validated | 408.504 | 208.579 | 412.979 | — | — | — | — | — |
| g1 | minv | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | minv | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | minv | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | minv | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | minv | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | minv | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| g1 | minv | frax | 16 | float32 | accuracy_warning | 350.509 | 349.927 | 429.701 | 245.621 | 230.878 | 402.097 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | frax | 32 | float32 | accuracy_warning | 508.497 | 489.497 | 581.22 | 298.786 | 252.771 | 377.124 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | frax | 64 | float32 | validation_failed | — | — | — | — | — | — | — | ValueError: Independent-oracle validation failed; no timing collected |
| g1 | minv | frax | 128 | float32 | accuracy_warning | 483.416 | 474.709 | 572.024 | 226.113 | 186.282 | 411.941 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | frax | 256 | float32 | accuracy_warning | 613.199 | 603.298 | 691.989 | 287.755 | 265.294 | 289.443 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | frax | 1024 | float32 | accuracy_warning | 1510.497 | 1135.081 | 1561.742 | 485.277 | 414.206 | 550.439 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | grid_cuda | 16 | float32 | validated | 66.885 | 66.744 | 66.885 | 55.606 | 55.495 | 55.655 | — | — |
| g1 | minv | grid_cuda | 32 | float32 | validated | 68.909 | 68.814 | 68.911 | 55.296 | 55.296 | 55.363 | — | — |
| g1 | minv | grid_cuda | 64 | float32 | validated | 73.718 | 73.643 | 73.785 | 55.412 | 55.375 | 55.417 | — | — |
| g1 | minv | grid_cuda | 128 | float32 | validated | 96.43 | 96.324 | 96.813 | 56.216 | 56.114 | 56.262 | — | — |
| g1 | minv | grid_cuda | 256 | float32 | validated | 174.563 | 174.43 | 174.762 | 104.739 | 104.544 | 104.762 | — | — |
| g1 | minv | grid_cuda | 1024 | float32 | validated | 592.987 | 590.798 | 595.832 | 344.859 | 344.854 | 345.103 | — | — |
| g1 | minv | grid_jax | 16 | float32 | validated | 175.706 | 174.484 | 193.809 | 82.354 | 82.245 | 90.245 | — | — |
| g1 | minv | grid_jax | 32 | float32 | validated | 223.794 | 218.421 | 290.142 | 91.982 | 91.558 | 92.458 | — | — |
| g1 | minv | grid_jax | 64 | float32 | validated | 213.856 | 202.099 | 242.497 | 92.42 | 84.462 | 93.557 | — | — |
| g1 | minv | grid_jax | 128 | float32 | validated | 306.071 | 264.2 | 337.125 | 93.153 | 82.926 | 93.729 | — | — |
| g1 | minv | grid_jax | 256 | float32 | validated | 466.1 | 465.806 | 748.815 | 152.632 | 143.504 | 353.069 | — | — |
| g1 | minv | grid_jax | 1024 | float32 | validated | 1606.175 | 1374.607 | 1692.447 | 515.287 | 493.373 | 640.554 | — | — |
| g1 | minv | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| g1 | minv | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| g1 | minv | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| g1 | minv | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| g1 | minv | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| g1 | minv | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| g1 | minv | mujoco_cpu | 16 | float64 | validated | 259.883 | 258.746 | 260.039 | — | — | — | — | — |
| g1 | minv | mujoco_cpu | 32 | float64 | validated | 526.158 | 525.226 | 529.859 | — | — | — | — | — |
| g1 | minv | mujoco_cpu | 64 | float64 | validated | 1069.039 | 1062.047 | 1069.365 | — | — | — | — | — |
| g1 | minv | mujoco_cpu | 128 | float64 | validated | 2177.423 | 2170.134 | 2179.797 | — | — | — | — | — |
| g1 | minv | mujoco_cpu | 256 | float64 | validated | 4551.245 | 4453.717 | 4609.958 | — | — | — | — | — |
| g1 | minv | mujoco_cpu | 1024 | float64 | validated | 21896.458 | 21872.386 | 21982.662 | — | — | — | — | — |
| g1 | minv | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| g1 | minv | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| g1 | minv | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| g1 | minv | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| g1 | minv | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| g1 | minv | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| g1 | minv | pinocchio | 16 | float32 | accuracy_warning | 27.096 | 22.231 | 38.55 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio | 32 | float32 | accuracy_warning | 34.146 | 33.976 | 35.422 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio | 64 | float32 | accuracy_warning | 53.996 | 53.924 | 54.314 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio | 128 | float32 | accuracy_warning | 93.853 | 93.298 | 94.273 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio | 256 | float32 | accuracy_warning | 178.339 | 176.74 | 178.941 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio | 1024 | float32 | accuracy_warning | 676.085 | 672.733 | 906.557 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio_plain | 16 | float32 | accuracy_warning | 24.142 | 24.011 | 24.339 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio_plain | 32 | float32 | accuracy_warning | 38.11 | 37.546 | 51.513 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio_plain | 64 | float32 | accuracy_warning | 64.815 | 64.564 | 65.135 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio_plain | 128 | float32 | accuracy_warning | 119.367 | 119.14 | 119.424 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio_plain | 256 | float32 | accuracy_warning | 401.839 | 352.077 | 433.52 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | minv | pinocchio_plain | 1024 | float32 | accuracy_warning | 1002.02 | 998.479 | 1032.075 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| g1 | nonlinear_effects | bard | 16 | float32 | validated | 2693.308 | 2684.792 | 2780.919 | 2633.101 | 2619.725 | 2708.122 | — | — |
| g1 | nonlinear_effects | bard | 32 | float32 | validated | 2730.408 | 2722.027 | 2848.279 | 2673.477 | 2666.051 | 2772.162 | — | — |
| g1 | nonlinear_effects | bard | 64 | float32 | validated | 2809.586 | 2802.383 | 2886.594 | 2754.511 | 2753.056 | 2831.499 | — | — |
| g1 | nonlinear_effects | bard | 128 | float32 | validated | 2827.019 | 2823.257 | 2922.48 | 2766.678 | 2759.509 | 2851.041 | — | — |
| g1 | nonlinear_effects | bard | 256 | float32 | validated | 2842.809 | 2831.018 | 2911.847 | 2768.826 | 2763.24 | 2836.987 | — | — |
| g1 | nonlinear_effects | bard | 1024 | float32 | validated | 2883.006 | 2865.024 | 2964.022 | 2801.122 | 2759.632 | 2852.559 | — | — |
| g1 | nonlinear_effects | frax | 16 | float32 | validated | 305.721 | 274.667 | 361.012 | 159.613 | 150.779 | 161.114 | — | — |
| g1 | nonlinear_effects | frax | 32 | float32 | validated | 308.768 | 281.937 | 446.529 | 172.493 | 114.414 | 181.343 | — | — |
| g1 | nonlinear_effects | frax | 64 | float32 | validated | 307.78 | 292.934 | 321.833 | 226.439 | 183.404 | 306.145 | — | — |
| g1 | nonlinear_effects | frax | 128 | float32 | validated | 296.76 | 276.123 | 304.606 | 162.433 | 133.012 | 223.038 | — | — |
| g1 | nonlinear_effects | frax | 256 | float32 | validated | 379.669 | 315.28 | 484.705 | 137.503 | 136.03 | 155.844 | — | — |
| g1 | nonlinear_effects | frax | 1024 | float32 | validated | 695.351 | 424.703 | 725.538 | 210.498 | 189.635 | 227.646 | — | — |
| g1 | nonlinear_effects | grid_cuda | 16 | float32 | validated | 46.007 | 45.968 | 46.094 | 40.047 | 40.03 | 40.06 | — | — |
| g1 | nonlinear_effects | grid_cuda | 32 | float32 | validated | 45.986 | 45.98 | 45.987 | 39.606 | 39.581 | 39.631 | — | — |
| g1 | nonlinear_effects | grid_cuda | 64 | float32 | validated | 46.541 | 46.476 | 46.616 | 39.821 | 39.815 | 39.829 | — | — |
| g1 | nonlinear_effects | grid_cuda | 128 | float32 | validated | 46.409 | 46.379 | 46.591 | 39.313 | 39.307 | 39.356 | — | — |
| g1 | nonlinear_effects | grid_cuda | 256 | float32 | validated | 48.185 | 47.439 | 48.319 | 38.168 | 38.104 | 38.221 | — | — |
| g1 | nonlinear_effects | grid_cuda | 1024 | float32 | validated | 151.68 | 151.653 | 153.22 | 124.931 | 124.892 | 124.979 | — | — |
| g1 | nonlinear_effects | grid_jax | 16 | float32 | validated | 176.735 | 176.466 | 183.816 | 67.386 | 67.071 | 70.295 | — | — |
| g1 | nonlinear_effects | grid_jax | 32 | float32 | validated | 183.179 | 176.354 | 201.966 | 75.541 | 74.674 | 77.345 | — | — |
| g1 | nonlinear_effects | grid_jax | 64 | float32 | validated | 203.339 | 176.958 | 247.42 | 77.797 | 77.251 | 80.069 | — | — |
| g1 | nonlinear_effects | grid_jax | 128 | float32 | validated | 207.28 | 185.796 | 233.399 | 65.562 | 65.011 | 78.158 | — | — |
| g1 | nonlinear_effects | grid_jax | 256 | float32 | validated | 222.891 | 194.526 | 252.922 | 74.367 | 74.115 | 75.226 | — | — |
| g1 | nonlinear_effects | grid_jax | 1024 | float32 | validated | 371.487 | 329.346 | 559.625 | 225.44 | 192.194 | 237.684 | — | — |
| g1 | nonlinear_effects | mjx | 16 | float32 | validated | 541.013 | 500.445 | 819.353 | 296.58 | 222.987 | 316.09 | — | — |
| g1 | nonlinear_effects | mjx | 32 | float32 | validated | 595.614 | 542.89 | 660.407 | 317.531 | 257.719 | 548.633 | — | — |
| g1 | nonlinear_effects | mjx | 64 | float32 | validated | 540.297 | 538.047 | 604.33 | 284.669 | 218.52 | 500.379 | — | — |
| g1 | nonlinear_effects | mjx | 128 | float32 | validated | 854.79 | 626.797 | 1032.615 | 389.741 | 308.976 | 403.82 | — | — |
| g1 | nonlinear_effects | mjx | 256 | float32 | validated | 843.765 | 681.029 | 911.654 | 510.859 | 407.749 | 551.158 | — | — |
| g1 | nonlinear_effects | mjx | 1024 | float32 | validated | 1101.169 | 910.963 | 1153.379 | 685.42 | 491.096 | 686.336 | — | — |
| g1 | nonlinear_effects | mujoco_cpu | 16 | float64 | validated | 82.734 | 82.079 | 85.004 | — | — | — | — | — |
| g1 | nonlinear_effects | mujoco_cpu | 32 | float64 | validated | 165.403 | 165.077 | 169.876 | — | — | — | — | — |
| g1 | nonlinear_effects | mujoco_cpu | 64 | float64 | validated | 344.689 | 341.175 | 349.224 | — | — | — | — | — |
| g1 | nonlinear_effects | mujoco_cpu | 128 | float64 | validated | 709.818 | 707.593 | 726.985 | — | — | — | — | — |
| g1 | nonlinear_effects | mujoco_cpu | 256 | float64 | validated | 1438.219 | 1428.474 | 1466.731 | — | — | — | — | — |
| g1 | nonlinear_effects | mujoco_cpu | 1024 | float64 | validated | 8423.707 | 8272.866 | 8540.706 | — | — | — | — | — |
| g1 | nonlinear_effects | mujoco_warp | 16 | float32 | validated | 245.904 | 245.667 | 246.513 | 211.102 | 211.053 | 211.946 | — | — |
| g1 | nonlinear_effects | mujoco_warp | 32 | float32 | validated | 255.407 | 254.231 | 256.92 | 223.981 | 223.672 | 224.021 | — | — |
| g1 | nonlinear_effects | mujoco_warp | 64 | float32 | validated | 274.355 | 273.314 | 274.775 | 241.21 | 241.047 | 241.597 | — | — |
| g1 | nonlinear_effects | mujoco_warp | 128 | float32 | validated | 301.25 | 300.239 | 301.553 | 264.338 | 264.167 | 264.746 | — | — |
| g1 | nonlinear_effects | mujoco_warp | 256 | float32 | validated | 327.573 | 327.237 | 327.869 | 287.092 | 286.959 | 287.179 | — | — |
| g1 | nonlinear_effects | mujoco_warp | 1024 | float32 | validated | 371.243 | 370.118 | 374.027 | 314.625 | 314.586 | 314.845 | — | — |
| g1 | nonlinear_effects | pinocchio | 16 | float32 | validated | 12.57 | 12.489 | 13.009 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio | 32 | float32 | validated | 14.465 | 14.464 | 14.773 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio | 64 | float32 | validated | 18.929 | 18.858 | 20.064 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio | 128 | float32 | validated | 28.075 | 27.911 | 28.176 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio | 256 | float32 | validated | 44.469 | 44.233 | 45.306 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio | 1024 | float32 | validated | 150.846 | 148.286 | 349.001 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio_plain | 16 | float32 | validated | 14.042 | 13.884 | 15.366 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio_plain | 32 | float32 | validated | 17.942 | 17.813 | 18.13 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio_plain | 64 | float32 | validated | 25.793 | 25.62 | 25.872 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio_plain | 128 | float32 | validated | 41.51 | 41.484 | 41.731 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio_plain | 256 | float32 | validated | 72.396 | 64.801 | 72.452 | — | — | — | — | — |
| g1 | nonlinear_effects | pinocchio_plain | 1024 | float32 | validated | 406.673 | 228.263 | 452.568 | — | — | — | — | — |
| go2 | ccrba | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | frax | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | frax | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | frax | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | frax | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | frax | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | frax | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | grid_cuda | 16 | float32 | validated | 88.902 | 88.899 | 88.953 | 82.941 | 82.891 | 82.966 | — | — |
| go2 | ccrba | grid_cuda | 32 | float32 | validated | 88.637 | 88.581 | 88.647 | 82.411 | 82.385 | 82.468 | — | — |
| go2 | ccrba | grid_cuda | 64 | float32 | validated | 89.362 | 89.362 | 89.371 | 82.478 | 82.46 | 82.482 | — | — |
| go2 | ccrba | grid_cuda | 128 | float32 | validated | 89.153 | 89.135 | 89.826 | 81.478 | 81.456 | 81.487 | — | — |
| go2 | ccrba | grid_cuda | 256 | float32 | validated | 88.114 | 88.102 | 88.215 | 78.46 | 78.46 | 78.543 | — | — |
| go2 | ccrba | grid_cuda | 1024 | float32 | validated | 312.031 | 311.186 | 312.232 | 270.806 | 270.769 | 270.827 | — | — |
| go2 | ccrba | grid_jax | 16 | float32 | validated | 272.464 | 257.053 | 413.87 | 105.35 | 103.72 | 221.52 | — | — |
| go2 | ccrba | grid_jax | 32 | float32 | validated | 316.128 | 243.945 | 320.822 | 145.232 | 108.514 | 151.177 | — | — |
| go2 | ccrba | grid_jax | 64 | float32 | validated | 391.506 | 322.797 | 396.768 | 107.704 | 102.054 | 110.708 | — | — |
| go2 | ccrba | grid_jax | 128 | float32 | validated | 313.654 | 296.99 | 323.538 | 211.909 | 101.987 | 338.54 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | ccrba | grid_jax | 256 | float32 | validated | 302.111 | 248.669 | 333.454 | 98.974 | 97.581 | 395.153 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | ccrba | grid_jax | 1024 | float32 | validated | 486.986 | 464.615 | 510.458 | 225.56 | 207.043 | 299.997 | — | — |
| go2 | ccrba | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | ccrba | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | ccrba | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | ccrba | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | ccrba | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | ccrba | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | ccrba | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | ccrba | pinocchio_plain | 16 | float32 | validated | 12.715 | 12.651 | 12.931 | — | — | — | — | — |
| go2 | ccrba | pinocchio_plain | 32 | float32 | validated | 14.758 | 14.616 | 18.401 | — | — | — | — | — |
| go2 | ccrba | pinocchio_plain | 64 | float32 | validated | 19.197 | 18.939 | 19.287 | — | — | — | — | — |
| go2 | ccrba | pinocchio_plain | 128 | float32 | validated | 28.246 | 28.153 | 28.391 | — | — | — | — | — |
| go2 | ccrba | pinocchio_plain | 256 | float32 | validated | 46.444 | 42.292 | 47.726 | — | — | — | — | — |
| go2 | ccrba | pinocchio_plain | 1024 | float32 | validated | 264.701 | 146.236 | 337.958 | — | — | — | — | — |
| go2 | coriolis_matrix | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | frax | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | frax | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | frax | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | frax | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | frax | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | frax | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | grid_cuda | 16 | float32 | validated | 71.864 | 71.831 | 72.348 | 68.147 | 68.129 | 68.152 | — | — |
| go2 | coriolis_matrix | grid_cuda | 32 | float32 | validated | 71.834 | 71.799 | 71.903 | 67.691 | 67.682 | 67.814 | — | — |
| go2 | coriolis_matrix | grid_cuda | 64 | float32 | validated | 73.91 | 73.869 | 73.979 | 68.451 | 68.25 | 68.531 | — | — |
| go2 | coriolis_matrix | grid_cuda | 128 | float32 | validated | 75.358 | 75.143 | 76.056 | 67.731 | 67.566 | 67.836 | — | — |
| go2 | coriolis_matrix | grid_cuda | 256 | float32 | validated | 87.972 | 87.972 | 88.811 | 69.328 | 69.309 | 69.367 | — | — |
| go2 | coriolis_matrix | grid_cuda | 1024 | float32 | validated | 328.192 | 326.784 | 329.257 | 248.636 | 248.172 | 248.844 | — | — |
| go2 | coriolis_matrix | grid_jax | 16 | float32 | validated | 209.061 | 204.234 | 236.727 | 94.412 | 94.213 | 104.0 | — | — |
| go2 | coriolis_matrix | grid_jax | 32 | float32 | validated | 211.115 | 209.444 | 241.268 | 93.184 | 93.182 | 105.469 | — | — |
| go2 | coriolis_matrix | grid_jax | 64 | float32 | validated | 236.157 | 214.22 | 278.617 | 109.856 | 106.582 | 119.258 | — | — |
| go2 | coriolis_matrix | grid_jax | 128 | float32 | validated | 250.484 | 241.093 | 252.114 | 103.369 | 102.76 | 111.984 | — | — |
| go2 | coriolis_matrix | grid_jax | 256 | float32 | validated | 288.408 | 268.331 | 325.896 | 115.755 | 95.649 | 116.443 | — | — |
| go2 | coriolis_matrix | grid_jax | 1024 | float32 | validated | 467.309 | 430.054 | 752.277 | 179.266 | 175.922 | 222.954 | — | — |
| go2 | coriolis_matrix | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| go2 | coriolis_matrix | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | coriolis_matrix | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | coriolis_matrix | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | coriolis_matrix | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | coriolis_matrix | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | coriolis_matrix | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| go2 | coriolis_matrix | pinocchio_plain | 16 | float32 | validated | 16.01 | 15.922 | 16.025 | — | — | — | — | — |
| go2 | coriolis_matrix | pinocchio_plain | 32 | float32 | validated | 21.903 | 21.849 | 21.955 | — | — | — | — | — |
| go2 | coriolis_matrix | pinocchio_plain | 64 | float32 | validated | 33.894 | 33.712 | 34.034 | — | — | — | — | — |
| go2 | coriolis_matrix | pinocchio_plain | 128 | float32 | validated | 55.048 | 54.38 | 56.898 | — | — | — | — | — |
| go2 | coriolis_matrix | pinocchio_plain | 256 | float32 | validated | 96.285 | 96.062 | 106.253 | — | — | — | — | — |
| go2 | coriolis_matrix | pinocchio_plain | 1024 | float32 | validated | 348.294 | 347.897 | 527.342 | — | — | — | — | — |
| go2 | crba | bard | 16 | float32 | validated | 1885.995 | 1883.932 | 1938.868 | 1817.409 | 1813.239 | 1885.615 | — | — |
| go2 | crba | bard | 32 | float32 | validated | 1882.373 | 1879.318 | 1953.597 | 1812.403 | 1812.015 | 1887.066 | — | — |
| go2 | crba | bard | 64 | float32 | validated | 1895.048 | 1893.347 | 1990.362 | 1815.344 | 1814.049 | 1904.123 | — | — |
| go2 | crba | bard | 128 | float32 | validated | 1909.015 | 1903.587 | 1970.592 | 1826.787 | 1817.587 | 1888.102 | — | — |
| go2 | crba | bard | 256 | float32 | validated | 1937.593 | 1926.944 | 2022.632 | 1821.093 | 1817.695 | 1879.304 | — | — |
| go2 | crba | bard | 1024 | float32 | validated | 2044.82 | 2039.809 | 2106.486 | 1822.216 | 1813.539 | 1874.34 | — | — |
| go2 | crba | frax | 16 | float32 | validated | 298.694 | 241.911 | 526.58 | 99.598 | 96.864 | 111.754 | — | — |
| go2 | crba | frax | 32 | float32 | validated | 433.092 | 234.416 | 560.269 | 97.178 | 94.377 | 347.319 | — | — |
| go2 | crba | frax | 64 | float32 | validated | 492.202 | 229.566 | 550.301 | 99.033 | 95.123 | 289.843 | — | — |
| go2 | crba | frax | 128 | float32 | validated | 413.331 | 272.15 | 538.915 | 110.233 | 98.97 | 175.569 | — | — |
| go2 | crba | frax | 256 | float32 | validated | 336.974 | 271.34 | 525.419 | 117.264 | 97.004 | 390.76 | — | — |
| go2 | crba | frax | 1024 | float32 | validated | 664.428 | 614.819 | 686.846 | 124.624 | 123.892 | 134.156 | — | — |
| go2 | crba | grid_cuda | 16 | float32 | validated | 19.723 | 19.648 | 19.77 | 13.608 | 13.581 | 13.619 | — | — |
| go2 | crba | grid_cuda | 32 | float32 | validated | 20.327 | 20.25 | 20.479 | 13.593 | 13.569 | 13.616 | — | — |
| go2 | crba | grid_cuda | 64 | float32 | validated | 21.712 | 21.553 | 22.516 | 13.628 | 13.201 | 13.902 | — | — |
| go2 | crba | grid_cuda | 128 | float32 | validated | 24.553 | 24.529 | 27.601 | 13.837 | 13.812 | 13.915 | — | — |
| go2 | crba | grid_cuda | 256 | float32 | validated | 29.557 | 29.374 | 29.913 | 14.069 | 14.059 | 14.178 | — | — |
| go2 | crba | grid_cuda | 1024 | float32 | validated | 102.764 | 102.261 | 102.857 | 23.298 | 23.278 | 24.449 | — | — |
| go2 | crba | grid_jax | 16 | float32 | validated | 120.101 | 115.981 | 144.039 | 46.311 | 40.923 | 46.876 | — | — |
| go2 | crba | grid_jax | 32 | float32 | validated | 120.044 | 119.297 | 294.875 | 39.963 | 39.244 | 46.967 | — | — |
| go2 | crba | grid_jax | 64 | float32 | validated | 131.979 | 130.099 | 133.085 | 41.409 | 39.761 | 50.69 | — | — |
| go2 | crba | grid_jax | 128 | float32 | validated | 157.751 | 150.728 | 330.129 | 40.134 | 39.995 | 48.283 | — | — |
| go2 | crba | grid_jax | 256 | float32 | validated | 158.673 | 157.698 | 192.793 | 39.562 | 39.059 | 48.881 | — | — |
| go2 | crba | grid_jax | 1024 | float32 | validated | 344.474 | 322.114 | 543.225 | 57.865 | 48.8 | 58.741 | — | — |
| go2 | crba | mjx | 16 | float32 | validated | 365.472 | 360.662 | 440.394 | 119.809 | 109.824 | 129.735 | — | — |
| go2 | crba | mjx | 32 | float32 | validated | 361.552 | 351.449 | 466.899 | 116.818 | 105.869 | 323.692 | — | — |
| go2 | crba | mjx | 64 | float32 | validated | 416.038 | 297.303 | 510.748 | 105.596 | 104.1 | 268.632 | — | — |
| go2 | crba | mjx | 128 | float32 | validated | 348.792 | 347.21 | 376.551 | 117.141 | 106.531 | 185.818 | — | — |
| go2 | crba | mjx | 256 | float32 | validated | 488.472 | 372.337 | 589.031 | 121.571 | 110.501 | 130.235 | — | — |
| go2 | crba | mjx | 1024 | float32 | validated | 806.333 | 604.502 | 884.711 | 160.183 | 144.822 | 171.24 | — | — |
| go2 | crba | mujoco_cpu | 16 | float64 | validated | 57.441 | 57.126 | 58.562 | — | — | — | — | — |
| go2 | crba | mujoco_cpu | 32 | float64 | validated | 115.371 | 115.357 | 115.585 | — | — | — | — | — |
| go2 | crba | mujoco_cpu | 64 | float64 | validated | 231.074 | 230.794 | 231.719 | — | — | — | — | — |
| go2 | crba | mujoco_cpu | 128 | float64 | validated | 491.785 | 489.859 | 496.807 | — | — | — | — | — |
| go2 | crba | mujoco_cpu | 256 | float64 | validated | 1008.266 | 1005.913 | 1011.811 | — | — | — | — | — |
| go2 | crba | mujoco_cpu | 1024 | float64 | validated | 4874.694 | 4748.375 | 4883.393 | — | — | — | — | — |
| go2 | crba | mujoco_warp | 16 | float32 | validated | 84.167 | 83.878 | 84.171 | 48.664 | 48.65 | 48.665 | — | — |
| go2 | crba | mujoco_warp | 32 | float32 | validated | 89.624 | 89.295 | 91.066 | 53.254 | 53.228 | 53.301 | — | — |
| go2 | crba | mujoco_warp | 64 | float32 | validated | 102.581 | 102.412 | 103.015 | 58.881 | 58.819 | 59.011 | — | — |
| go2 | crba | mujoco_warp | 128 | float32 | validated | 113.04 | 112.011 | 114.021 | 61.168 | 61.154 | 61.418 | — | — |
| go2 | crba | mujoco_warp | 256 | float32 | validated | 139.035 | 138.202 | 139.684 | 62.06 | 61.985 | 62.075 | — | — |
| go2 | crba | mujoco_warp | 1024 | float32 | validated | 253.436 | 253.216 | 254.478 | 69.983 | 69.944 | 70.156 | — | — |
| go2 | crba | pinocchio | 16 | float32 | validated | 12.879 | 12.353 | 13.032 | — | — | — | — | — |
| go2 | crba | pinocchio | 32 | float32 | validated | 14.147 | 14.019 | 14.93 | — | — | — | — | — |
| go2 | crba | pinocchio | 64 | float32 | validated | 17.351 | 16.998 | 17.369 | — | — | — | — | — |
| go2 | crba | pinocchio | 128 | float32 | validated | 24.245 | 23.799 | 24.268 | — | — | — | — | — |
| go2 | crba | pinocchio | 256 | float32 | validated | 39.545 | 37.602 | 44.016 | — | — | — | — | — |
| go2 | crba | pinocchio | 1024 | float32 | validated | 118.173 | 101.298 | 118.605 | — | — | — | — | — |
| go2 | crba | pinocchio_plain | 16 | float32 | validated | 13.492 | 13.316 | 13.521 | — | — | — | — | — |
| go2 | crba | pinocchio_plain | 32 | float32 | validated | 16.436 | 16.421 | 16.482 | — | — | — | — | — |
| go2 | crba | pinocchio_plain | 64 | float32 | validated | 22.689 | 22.433 | 36.193 | — | — | — | — | — |
| go2 | crba | pinocchio_plain | 128 | float32 | validated | 34.656 | 34.48 | 34.741 | — | — | — | — | — |
| go2 | crba | pinocchio_plain | 256 | float32 | validated | 62.525 | 61.71 | 63.429 | — | — | — | — | — |
| go2 | crba | pinocchio_plain | 1024 | float32 | validated | 210.443 | 208.683 | 412.025 | — | — | — | — | — |
| go2 | end_effector_pose | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose | frax | 16 | float32 | validated | 196.655 | 194.015 | 200.972 | 66.338 | 60.415 | 235.786 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | end_effector_pose | frax | 32 | float32 | validated | 225.399 | 197.45 | 306.333 | 58.638 | 58.395 | 58.688 | — | — |
| go2 | end_effector_pose | frax | 64 | float32 | validated | 240.178 | 214.542 | 577.671 | 68.439 | 59.771 | 69.035 | — | — |
| go2 | end_effector_pose | frax | 128 | float32 | validated | 217.35 | 214.458 | 343.886 | 61.494 | 59.516 | 334.565 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | end_effector_pose | frax | 256 | float32 | validated | 297.717 | 201.051 | 524.691 | 69.124 | 60.911 | 134.99 | — | — |
| go2 | end_effector_pose | frax | 1024 | float32 | validated | 216.095 | 216.09 | 460.571 | 71.854 | 63.461 | 72.736 | — | — |
| go2 | end_effector_pose | grid_cuda | 16 | float32 | validated | 37.051 | 37.019 | 37.096 | 27.766 | 27.765 | 27.828 | — | — |
| go2 | end_effector_pose | grid_cuda | 32 | float32 | validated | 37.187 | 37.186 | 37.213 | 27.587 | 27.586 | 27.679 | — | — |
| go2 | end_effector_pose | grid_cuda | 64 | float32 | validated | 37.81 | 37.751 | 37.831 | 27.738 | 27.672 | 27.775 | — | — |
| go2 | end_effector_pose | grid_cuda | 128 | float32 | validated | 38.331 | 38.323 | 38.368 | 27.843 | 27.791 | 27.857 | — | — |
| go2 | end_effector_pose | grid_cuda | 256 | float32 | validated | 39.433 | 39.414 | 39.544 | 28.179 | 28.174 | 28.188 | — | — |
| go2 | end_effector_pose | grid_cuda | 1024 | float32 | validated | 85.188 | 85.125 | 85.263 | 68.577 | 68.557 | 68.617 | — | — |
| go2 | end_effector_pose | grid_jax | 16 | float32 | validated | 133.552 | 125.642 | 138.625 | 61.641 | 61.464 | 63.182 | — | — |
| go2 | end_effector_pose | grid_jax | 32 | float32 | validated | 136.93 | 131.044 | 140.627 | 53.559 | 53.393 | 61.285 | — | — |
| go2 | end_effector_pose | grid_jax | 64 | float32 | validated | 132.011 | 131.192 | 134.684 | 56.465 | 55.153 | 63.11 | — | — |
| go2 | end_effector_pose | grid_jax | 128 | float32 | validated | 155.712 | 129.489 | 221.443 | 53.975 | 53.74 | 62.63 | — | — |
| go2 | end_effector_pose | grid_jax | 256 | float32 | validated | 134.029 | 132.834 | 257.5 | 54.076 | 54.076 | 62.237 | — | — |
| go2 | end_effector_pose | grid_jax | 1024 | float32 | validated | 197.074 | 176.689 | 279.243 | 94.598 | 94.457 | 250.629 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | end_effector_pose | mjx | 16 | float32 | validated | 260.759 | 236.369 | 416.127 | 60.895 | 60.35 | 61.472 | — | — |
| go2 | end_effector_pose | mjx | 32 | float32 | validated | 253.095 | 217.84 | 301.018 | 57.172 | 56.536 | 57.405 | — | — |
| go2 | end_effector_pose | mjx | 64 | float32 | validated | 244.444 | 238.834 | 270.784 | 55.13 | 54.895 | 56.544 | — | — |
| go2 | end_effector_pose | mjx | 128 | float32 | validated | 340.544 | 275.586 | 431.112 | 52.89 | 51.329 | 222.439 | — | — |
| go2 | end_effector_pose | mjx | 256 | float32 | validated | 242.655 | 233.99 | 356.268 | 71.524 | 53.913 | 265.796 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | end_effector_pose | mjx | 1024 | float32 | validated | 373.234 | 251.709 | 571.011 | 59.395 | 58.984 | 68.544 | — | — |
| go2 | end_effector_pose | mujoco_cpu | 16 | float64 | validated | 94.104 | 93.28 | 99.716 | — | — | — | — | — |
| go2 | end_effector_pose | mujoco_cpu | 32 | float64 | validated | 186.082 | 185.781 | 187.608 | — | — | — | — | — |
| go2 | end_effector_pose | mujoco_cpu | 64 | float64 | validated | 369.658 | 367.895 | 370.252 | — | — | — | — | — |
| go2 | end_effector_pose | mujoco_cpu | 128 | float64 | validated | 744.297 | 743.027 | 747.468 | — | — | — | — | — |
| go2 | end_effector_pose | mujoco_cpu | 256 | float64 | validated | 1541.044 | 1535.224 | 1545.294 | — | — | — | — | — |
| go2 | end_effector_pose | mujoco_cpu | 1024 | float64 | validated | 6429.699 | 6232.894 | 6446.456 | — | — | — | — | — |
| go2 | end_effector_pose | mujoco_warp | 16 | float32 | validated | 55.202 | 54.78 | 55.465 | 19.531 | 19.496 | 19.554 | — | — |
| go2 | end_effector_pose | mujoco_warp | 32 | float32 | validated | 55.907 | 55.617 | 56.007 | 20.18 | 20.133 | 20.184 | — | — |
| go2 | end_effector_pose | mujoco_warp | 64 | float32 | validated | 56.524 | 56.311 | 57.356 | 20.645 | 20.502 | 20.714 | — | — |
| go2 | end_effector_pose | mujoco_warp | 128 | float32 | validated | 56.6 | 56.496 | 58.814 | 20.807 | 20.804 | 20.821 | — | — |
| go2 | end_effector_pose | mujoco_warp | 256 | float32 | validated | 59.058 | 57.961 | 59.157 | 21.192 | 21.086 | 21.193 | — | — |
| go2 | end_effector_pose | mujoco_warp | 1024 | float32 | validated | 64.744 | 64.47 | 65.211 | 25.321 | 25.273 | 25.355 | — | — |
| go2 | end_effector_pose | pinocchio | 16 | float64 | validated | 12.481 | 12.324 | 12.549 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio | 32 | float64 | validated | 14.874 | 14.72 | 15.226 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio | 64 | float64 | validated | 19.86 | 19.751 | 20.671 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio | 128 | float64 | validated | 29.592 | 29.547 | 31.226 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio | 256 | float64 | validated | 47.993 | 38.341 | 48.104 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio | 1024 | float64 | validated | 162.777 | 129.064 | 296.944 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio_plain | 16 | float64 | validated | 12.629 | 12.389 | 13.242 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio_plain | 32 | float64 | validated | 15.148 | 15.008 | 16.563 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio_plain | 64 | float64 | validated | 20.889 | 19.62 | 23.262 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio_plain | 128 | float64 | validated | 29.908 | 29.663 | 36.336 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio_plain | 256 | float64 | validated | 49.113 | 40.567 | 49.932 | — | — | — | — | — |
| go2 | end_effector_pose | pinocchio_plain | 1024 | float64 | validated | 322.499 | 132.472 | 336.66 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose_gradient | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose_gradient | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose_gradient | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose_gradient | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose_gradient | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | end_effector_pose_gradient | frax | 16 | float32 | validated | 259.326 | 257.24 | 299.912 | 136.883 | 134.827 | 323.01 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | end_effector_pose_gradient | frax | 32 | float32 | validated | 353.122 | 275.466 | 394.626 | 145.506 | 123.14 | 149.67 | — | — |
| go2 | end_effector_pose_gradient | frax | 64 | float32 | validated | 299.355 | 294.069 | 426.213 | 132.568 | 128.325 | 148.967 | — | — |
| go2 | end_effector_pose_gradient | frax | 128 | float32 | validated | 326.94 | 277.998 | 505.608 | 147.781 | 147.231 | 148.936 | — | — |
| go2 | end_effector_pose_gradient | frax | 256 | float32 | validated | 425.065 | 388.115 | 434.798 | 171.24 | 161.364 | 230.669 | — | — |
| go2 | end_effector_pose_gradient | frax | 1024 | float32 | validated | 731.74 | 641.374 | 761.574 | 365.564 | 347.517 | 460.911 | — | — |
| go2 | end_effector_pose_gradient | grid_cuda | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_gradient | grid_cuda | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_gradient | grid_cuda | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_gradient | grid_cuda | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_gradient | grid_cuda | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_gradient | grid_cuda | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_gradient | grid_jax | 16 | float32 | validated | 144.523 | 131.191 | 190.479 | 66.334 | 57.509 | 66.55 | — | — |
| go2 | end_effector_pose_gradient | grid_jax | 32 | float32 | validated | 136.176 | 134.319 | 166.588 | 56.1 | 55.123 | 64.604 | — | — |
| go2 | end_effector_pose_gradient | grid_jax | 64 | float32 | validated | 139.245 | 139.231 | 146.925 | 59.615 | 55.545 | 65.367 | — | — |
| go2 | end_effector_pose_gradient | grid_jax | 128 | float32 | validated | 151.514 | 137.157 | 181.464 | 63.872 | 56.777 | 64.495 | — | — |
| go2 | end_effector_pose_gradient | grid_jax | 256 | float32 | validated | 267.817 | 181.346 | 447.297 | 65.748 | 65.24 | 66.909 | — | — |
| go2 | end_effector_pose_gradient | grid_jax | 1024 | float32 | validated | 236.883 | 229.393 | 329.059 | 80.233 | 79.068 | 80.301 | — | — |
| go2 | end_effector_pose_gradient | mjx | 16 | float32 | validated | 271.34 | 219.199 | 473.913 | 79.683 | 79.683 | 81.97 | — | — |
| go2 | end_effector_pose_gradient | mjx | 32 | float32 | validated | 303.218 | 255.757 | 321.0 | 87.537 | 80.296 | 310.407 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | end_effector_pose_gradient | mjx | 64 | float32 | validated | 513.834 | 505.198 | 632.117 | 278.235 | 81.254 | 338.696 | — | — |
| go2 | end_effector_pose_gradient | mjx | 128 | float32 | validated | 468.634 | 387.115 | 557.517 | 82.098 | 79.192 | 88.996 | — | — |
| go2 | end_effector_pose_gradient | mjx | 256 | float32 | validated | 335.248 | 313.23 | 361.398 | 109.702 | 101.199 | 112.891 | — | — |
| go2 | end_effector_pose_gradient | mjx | 1024 | float32 | validated | 626.872 | 496.192 | 771.143 | 128.161 | 104.898 | 317.271 | — | — |
| go2 | end_effector_pose_gradient | mujoco_cpu | 16 | float64 | validated | 151.302 | 150.413 | 152.121 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | mujoco_cpu | 32 | float64 | validated | 300.383 | 299.46 | 301.72 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | mujoco_cpu | 64 | float64 | validated | 597.159 | 594.076 | 599.959 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | mujoco_cpu | 128 | float64 | validated | 1215.444 | 1212.197 | 1215.976 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | mujoco_cpu | 256 | float64 | validated | 2445.587 | 2434.733 | 2447.982 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | mujoco_cpu | 1024 | float64 | validated | 10032.02 | 9953.204 | 10301.774 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | mujoco_warp | 16 | float32 | validated | 69.182 | 69.177 | 69.519 | 38.363 | 38.188 | 38.369 | — | — |
| go2 | end_effector_pose_gradient | mujoco_warp | 32 | float32 | validated | 71.369 | 71.054 | 71.6 | 39.726 | 39.62 | 39.769 | — | — |
| go2 | end_effector_pose_gradient | mujoco_warp | 64 | float32 | validated | 74.955 | 74.646 | 75.529 | 41.714 | 41.693 | 41.762 | — | — |
| go2 | end_effector_pose_gradient | mujoco_warp | 128 | float32 | validated | 80.848 | 80.62 | 81.269 | 42.696 | 42.641 | 42.7 | — | — |
| go2 | end_effector_pose_gradient | mujoco_warp | 256 | float32 | validated | 86.476 | 86.217 | 87.041 | 43.452 | 43.394 | 43.481 | — | — |
| go2 | end_effector_pose_gradient | mujoco_warp | 1024 | float32 | validated | 133.558 | 132.308 | 135.172 | 50.717 | 50.535 | 51.761 | — | — |
| go2 | end_effector_pose_gradient | pinocchio | 16 | float64 | validated | 13.893 | 13.749 | 14.822 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio | 32 | float64 | validated | 16.411 | 16.221 | 16.615 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio | 64 | float64 | validated | 22.788 | 22.58 | 23.237 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio | 128 | float64 | validated | 34.991 | 34.265 | 35.527 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio | 256 | float64 | validated | 50.933 | 50.112 | 59.314 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio | 1024 | float64 | validated | 306.253 | 248.746 | 347.205 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio_plain | 16 | float64 | validated | 14.018 | 13.727 | 14.275 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio_plain | 32 | float64 | validated | 16.461 | 16.011 | 17.332 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio_plain | 64 | float64 | validated | 22.529 | 22.206 | 23.605 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio_plain | 128 | float64 | validated | 34.76 | 34.651 | 35.304 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio_plain | 256 | float64 | validated | 49.764 | 49.256 | 50.59 | — | — | — | — | — |
| go2 | end_effector_pose_gradient | pinocchio_plain | 1024 | float64 | validated | 354.348 | 336.455 | 403.793 | — | — | — | — | — |
| go2 | end_effector_pose_hessian | bard | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | bard | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | bard | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | bard | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | bard | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | bard | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | frax | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | frax | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | frax | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | frax | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | frax | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | frax | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | grid_cuda | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_hessian | grid_cuda | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_hessian | grid_cuda | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_hessian | grid_cuda | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_hessian | grid_cuda | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_hessian | grid_cuda | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| go2 | end_effector_pose_hessian | grid_jax | 16 | float32 | validated | 173.57 | 161.265 | 187.026 | 58.234 | 57.43 | 66.064 | — | — |
| go2 | end_effector_pose_hessian | grid_jax | 32 | float32 | validated | 199.853 | 192.53 | 273.308 | 75.111 | 74.823 | 75.546 | — | — |
| go2 | end_effector_pose_hessian | grid_jax | 64 | float32 | validated | 239.791 | 223.133 | 342.853 | 65.756 | 59.057 | 68.016 | — | — |
| go2 | end_effector_pose_hessian | grid_jax | 128 | float32 | validated | 259.291 | 254.726 | 302.112 | 66.262 | 64.943 | 66.98 | — | — |
| go2 | end_effector_pose_hessian | grid_jax | 256 | float32 | validated | 583.753 | 479.679 | 672.413 | 67.913 | 56.68 | 78.329 | — | — |
| go2 | end_effector_pose_hessian | grid_jax | 1024 | float32 | validated | 1751.892 | 1616.394 | 1794.023 | 121.207 | 121.181 | 275.161 | — | — |
| go2 | end_effector_pose_hessian | mjx | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mjx | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mjx | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mjx | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mjx | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mjx | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_cpu | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_cpu | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_cpu | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_cpu | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_cpu | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_cpu | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_warp | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_warp | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_warp | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_warp | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_warp | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | mujoco_warp | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | end_effector_pose_hessian | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio_plain | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio_plain | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio_plain | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio_plain | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio_plain | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | end_effector_pose_hessian | pinocchio_plain | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| go2 | fdsva_so | bard | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | bard | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | bard | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | bard | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | bard | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | bard | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | frax | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | frax | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | frax | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | frax | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | frax | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | frax | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | grid_cuda | 16 | float32 | accuracy_warning | 630.585 | 626.658 | 631.702 | 553.18 | 550.427 | 553.536 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_cuda | 32 | float32 | accuracy_warning | 697.822 | 696.997 | 699.109 | 552.815 | 552.558 | 552.902 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_cuda | 64 | float32 | accuracy_warning | 832.614 | 829.691 | 835.676 | 551.53 | 551.263 | 551.763 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_cuda | 128 | float32 | accuracy_warning | 1112.259 | 1111.684 | 1115.836 | 563.188 | 563.024 | 563.309 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_cuda | 256 | float32 | accuracy_warning | 1773.403 | 1767.419 | 1775.36 | 679.404 | 679.34 | 680.581 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_cuda | 1024 | float32 | accuracy_warning | 7065.853 | 7048.013 | 7071.914 | 2659.666 | 2658.733 | 2662.724 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_jax | 16 | float32 | accuracy_warning | 1358.778 | 1332.722 | 1485.271 | 832.646 | 738.724 | 1040.666 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_jax | 32 | float32 | accuracy_warning | 1706.387 | 1667.1 | 1974.122 | 779.781 | 743.098 | 1034.977 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_jax | 64 | float32 | accuracy_warning | 2184.964 | 2135.123 | 2280.539 | 833.543 | 743.058 | 991.029 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_jax | 128 | float32 | accuracy_warning | 3173.152 | 3095.664 | 3224.874 | 894.965 | 820.11 | 1212.655 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_jax | 256 | float32 | accuracy_warning | 4512.718 | 4500.804 | 5039.053 | 910.058 | 898.545 | 1299.267 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | grid_jax | 1024 | float32 | accuracy_warning | 18447.431 | 17814.586 | 19669.605 | 3497.376 | 3408.752 | 4113.023 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | fdsva_so | mjx | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mjx | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mjx | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mjx | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mjx | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mjx | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_cpu | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_cpu | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_cpu | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_cpu | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_cpu | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_cpu | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_warp | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_warp | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_warp | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_warp | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_warp | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | mujoco_warp | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| go2 | fdsva_so | pinocchio | 16 | float64 | validated | 500.331 | 480.135 | 506.231 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio | 32 | float64 | validated | 766.532 | 746.645 | 789.394 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio | 64 | float64 | validated | 1041.017 | 1032.704 | 1475.382 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio | 128 | float64 | validated | 2420.27 | 2377.273 | 2721.42 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio | 256 | float64 | validated | 5774.273 | 5400.884 | 6392.343 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio | 1024 | float64 | validated | 20491.294 | 20413.483 | 23519.397 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio_plain | 16 | float64 | validated | 450.472 | 426.371 | 475.635 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio_plain | 32 | float64 | validated | 777.441 | 764.761 | 794.403 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio_plain | 64 | float64 | validated | 1447.842 | 1447.217 | 1447.896 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio_plain | 128 | float64 | validated | 2739.422 | 2734.528 | 2773.486 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio_plain | 256 | float64 | validated | 6299.722 | 6295.764 | 6438.497 | — | — | — | — | — |
| go2 | fdsva_so | pinocchio_plain | 1024 | float64 | validated | 23464.548 | 23459.369 | 23958.564 | — | — | — | — | — |
| go2 | forward_dynamics | bard | 16 | float32 | validated | 3824.001 | 3674.067 | 3834.12 | 3754.657 | 3609.866 | 3797.048 | — | — |
| go2 | forward_dynamics | bard | 32 | float32 | validated | 3842.925 | 3716.283 | 3872.59 | 3787.442 | 3664.701 | 3816.454 | — | — |
| go2 | forward_dynamics | bard | 64 | float32 | validated | 3844.646 | 3717.749 | 3861.593 | 3795.921 | 3648.076 | 3814.5 | — | — |
| go2 | forward_dynamics | bard | 128 | float32 | validated | 3857.068 | 3722.75 | 3876.261 | 3800.029 | 3669.447 | 3826.214 | — | — |
| go2 | forward_dynamics | bard | 256 | float32 | validated | 3844.877 | 3723.116 | 3895.416 | 3822.301 | 3655.627 | 3870.84 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | forward_dynamics | bard | 1024 | float32 | validated | 3982.57 | 3842.243 | 4005.766 | 3899.189 | 3783.009 | 3920.098 | — | — |
| go2 | forward_dynamics | frax | 16 | float32 | validated | 288.46 | 277.684 | 326.859 | 124.23 | 121.535 | 432.173 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | forward_dynamics | frax | 32 | float32 | validated | 283.75 | 283.114 | 429.483 | 261.877 | 125.501 | 301.572 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | forward_dynamics | frax | 64 | float32 | validated | 311.93 | 287.715 | 398.051 | 140.829 | 134.441 | 178.16 | — | — |
| go2 | forward_dynamics | frax | 128 | float32 | accuracy_warning | 336.28 | 298.967 | 354.785 | 142.809 | 128.319 | 206.501 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics | frax | 256 | float32 | accuracy_warning | 383.655 | 338.607 | 460.117 | 140.661 | 137.586 | 357.213 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics | frax | 1024 | float32 | accuracy_warning | 527.668 | 510.232 | 844.074 | 191.322 | 182.188 | 410.732 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics | grid_cuda | 16 | float32 | validated | 39.66 | 39.647 | 39.783 | 30.444 | 30.315 | 30.466 | — | — |
| go2 | forward_dynamics | grid_cuda | 32 | float32 | validated | 39.868 | 39.806 | 39.881 | 30.225 | 30.221 | 30.236 | — | — |
| go2 | forward_dynamics | grid_cuda | 64 | float32 | validated | 40.385 | 40.377 | 40.406 | 30.33 | 30.317 | 30.341 | — | — |
| go2 | forward_dynamics | grid_cuda | 128 | float32 | validated | 40.738 | 40.641 | 40.806 | 30.188 | 30.183 | 30.192 | — | — |
| go2 | forward_dynamics | grid_cuda | 256 | float32 | validated | 42.145 | 42.127 | 42.181 | 30.989 | 30.966 | 30.993 | — | — |
| go2 | forward_dynamics | grid_cuda | 1024 | float32 | validated | 76.992 | 76.82 | 77.065 | 60.84 | 60.805 | 60.879 | — | — |
| go2 | forward_dynamics | grid_jax | 16 | float32 | validated | 209.925 | 206.894 | 233.275 | 72.405 | 70.478 | 75.408 | — | — |
| go2 | forward_dynamics | grid_jax | 32 | float32 | validated | 235.337 | 210.234 | 235.463 | 62.337 | 62.333 | 64.932 | — | — |
| go2 | forward_dynamics | grid_jax | 64 | float32 | validated | 214.229 | 213.567 | 242.127 | 64.251 | 63.934 | 79.014 | — | — |
| go2 | forward_dynamics | grid_jax | 128 | float32 | validated | 243.267 | 209.597 | 275.733 | 64.459 | 63.445 | 76.51 | — | — |
| go2 | forward_dynamics | grid_jax | 256 | float32 | validated | 224.113 | 217.456 | 276.197 | 64.184 | 62.894 | 77.245 | — | — |
| go2 | forward_dynamics | grid_jax | 1024 | float32 | validated | 299.176 | 261.243 | 349.576 | 121.896 | 94.633 | 215.752 | — | — |
| go2 | forward_dynamics | mjx | 16 | float32 | validated | 507.787 | 503.638 | 831.815 | 293.478 | 234.303 | 386.108 | — | — |
| go2 | forward_dynamics | mjx | 32 | float32 | validated | 712.198 | 439.915 | 823.172 | 204.902 | 168.762 | 319.899 | — | — |
| go2 | forward_dynamics | mjx | 64 | float32 | validated | 424.35 | 407.835 | 472.822 | 183.983 | 177.349 | 238.377 | — | — |
| go2 | forward_dynamics | mjx | 128 | float32 | validated | 420.531 | 392.81 | 716.372 | 196.562 | 187.185 | 212.602 | — | — |
| go2 | forward_dynamics | mjx | 256 | float32 | validated | 566.755 | 522.653 | 658.391 | 260.615 | 247.645 | 429.066 | — | — |
| go2 | forward_dynamics | mjx | 1024 | float32 | validated | 948.732 | 783.206 | 981.293 | 561.587 | 425.313 | 606.424 | — | — |
| go2 | forward_dynamics | mujoco_cpu | 16 | float64 | validated | 59.837 | 59.169 | 60.127 | — | — | — | — | — |
| go2 | forward_dynamics | mujoco_cpu | 32 | float64 | validated | 118.914 | 118.845 | 119.594 | — | — | — | — | — |
| go2 | forward_dynamics | mujoco_cpu | 64 | float64 | validated | 246.599 | 245.282 | 253.73 | — | — | — | — | — |
| go2 | forward_dynamics | mujoco_cpu | 128 | float64 | validated | 519.588 | 518.086 | 534.507 | — | — | — | — | — |
| go2 | forward_dynamics | mujoco_cpu | 256 | float64 | validated | 1050.956 | 1050.568 | 1071.09 | — | — | — | — | — |
| go2 | forward_dynamics | mujoco_cpu | 1024 | float64 | validated | 5726.166 | 5676.444 | 5806.529 | — | — | — | — | — |
| go2 | forward_dynamics | mujoco_warp | 16 | float32 | validated | 208.457 | 208.226 | 209.053 | 179.228 | 179.103 | 179.401 | — | — |
| go2 | forward_dynamics | mujoco_warp | 32 | float32 | validated | 216.445 | 216.175 | 217.041 | 186.947 | 186.92 | 187.05 | — | — |
| go2 | forward_dynamics | mujoco_warp | 64 | float32 | validated | 224.459 | 224.209 | 224.473 | 193.664 | 193.648 | 193.67 | — | — |
| go2 | forward_dynamics | mujoco_warp | 128 | float32 | validated | 232.117 | 231.083 | 233.108 | 200.301 | 200.227 | 200.578 | — | — |
| go2 | forward_dynamics | mujoco_warp | 256 | float32 | validated | 239.483 | 239.081 | 240.162 | 205.15 | 205.074 | 205.237 | — | — |
| go2 | forward_dynamics | mujoco_warp | 1024 | float32 | validated | 270.006 | 269.836 | 270.886 | 223.15 | 222.907 | 223.243 | — | — |
| go2 | forward_dynamics | pinocchio | 16 | float32 | validated | 14.604 | 14.58 | 14.855 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio | 32 | float32 | validated | 19.297 | 19.111 | 19.65 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio | 64 | float32 | validated | 28.442 | 28.188 | 28.472 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio | 128 | float32 | validated | 46.23 | 46.177 | 49.758 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio | 256 | float32 | validated | 82.502 | 75.576 | 82.717 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio | 1024 | float32 | validated | 468.118 | 300.629 | 486.369 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio_plain | 16 | float32 | validated | 15.638 | 15.628 | 15.754 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio_plain | 32 | float32 | validated | 21.151 | 21.075 | 21.292 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio_plain | 64 | float32 | validated | 32.317 | 32.038 | 32.561 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio_plain | 128 | float32 | validated | 53.156 | 52.841 | 53.676 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio_plain | 256 | float32 | validated | 95.475 | 89.859 | 97.699 | — | — | — | — | — |
| go2 | forward_dynamics | pinocchio_plain | 1024 | float32 | validated | 485.814 | 327.503 | 501.593 | — | — | — | — | — |
| go2 | forward_dynamics_gradient | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | forward_dynamics_gradient | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | forward_dynamics_gradient | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | forward_dynamics_gradient | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | forward_dynamics_gradient | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | forward_dynamics_gradient | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | forward_dynamics_gradient | frax | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| go2 | forward_dynamics_gradient | frax | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| go2 | forward_dynamics_gradient | frax | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| go2 | forward_dynamics_gradient | frax | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| go2 | forward_dynamics_gradient | frax | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| go2 | forward_dynamics_gradient | frax | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | autodiff gradient is taken on Frax's Euler floating-base coordinates; the transport of a full dynamics Jacobian to the shared tangent is not implemented |
| go2 | forward_dynamics_gradient | grid_cuda | 16 | float32 | validated | 63.068 | 62.74 | 63.267 | 53.054 | 52.965 | 53.108 | — | — |
| go2 | forward_dynamics_gradient | grid_cuda | 32 | float32 | validated | 63.796 | 63.705 | 65.184 | 52.454 | 52.437 | 52.555 | — | — |
| go2 | forward_dynamics_gradient | grid_cuda | 64 | float32 | validated | 66.571 | 66.487 | 66.703 | 52.703 | 52.668 | 52.77 | — | — |
| go2 | forward_dynamics_gradient | grid_cuda | 128 | float32 | validated | 71.018 | 70.918 | 71.111 | 52.259 | 52.21 | 52.287 | — | — |
| go2 | forward_dynamics_gradient | grid_cuda | 256 | float32 | validated | 98.182 | 97.915 | 98.399 | 56.21 | 56.176 | 56.227 | — | — |
| go2 | forward_dynamics_gradient | grid_cuda | 1024 | float32 | validated | 335.423 | 333.651 | 336.638 | 199.025 | 198.882 | 199.128 | — | — |
| go2 | forward_dynamics_gradient | grid_jax | 16 | float32 | validated | 244.125 | 241.157 | 314.08 | 90.504 | 90.031 | 101.234 | — | — |
| go2 | forward_dynamics_gradient | grid_jax | 32 | float32 | validated | 252.307 | 246.815 | 333.253 | 98.56 | 97.154 | 98.651 | — | — |
| go2 | forward_dynamics_gradient | grid_jax | 64 | float32 | validated | 323.423 | 318.341 | 348.133 | 100.381 | 99.007 | 101.314 | — | — |
| go2 | forward_dynamics_gradient | grid_jax | 128 | float32 | validated | 352.783 | 277.326 | 405.061 | 110.961 | 97.425 | 119.601 | — | — |
| go2 | forward_dynamics_gradient | grid_jax | 256 | float32 | validated | 388.225 | 384.801 | 449.025 | 102.741 | 102.575 | 105.398 | — | — |
| go2 | forward_dynamics_gradient | grid_jax | 1024 | float32 | validated | 1020.445 | 990.665 | 1240.013 | 442.704 | 312.765 | 496.598 | — | — |
| go2 | forward_dynamics_gradient | mjx | 16 | float32 | validated | 1081.317 | 1060.647 | 1162.287 | 888.821 | 773.105 | 1005.532 | — | — |
| go2 | forward_dynamics_gradient | mjx | 32 | float32 | validated | 1270.93 | 1241.362 | 1456.904 | 998.288 | 903.555 | 1260.19 | — | — |
| go2 | forward_dynamics_gradient | mjx | 64 | float32 | accuracy_warning | 1462.886 | 1354.001 | 1719.981 | 1020.428 | 893.442 | 1297.31 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | mjx | 128 | float32 | validated | 1385.454 | 1339.961 | 1694.428 | 1219.215 | 974.06 | 1299.463 | — | — |
| go2 | forward_dynamics_gradient | mjx | 256 | float32 | accuracy_warning | 2175.593 | 1873.485 | 2245.556 | 1664.592 | 1588.362 | 1996.342 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | mjx | 1024 | float32 | accuracy_warning | 4061.911 | 3958.463 | 4389.19 | 3748.283 | 3355.043 | 4224.183 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| go2 | forward_dynamics_gradient | pinocchio | 16 | float32 | accuracy_warning | 25.699 | 25.374 | 25.813 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | pinocchio | 32 | float32 | accuracy_warning | 40.655 | 40.394 | 41.642 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | pinocchio | 64 | float32 | accuracy_warning | 69.89 | 63.004 | 70.015 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | pinocchio | 128 | float32 | accuracy_warning | 129.597 | 112.07 | 129.898 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | pinocchio | 256 | float32 | accuracy_warning | 433.662 | 423.024 | 446.437 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | pinocchio | 1024 | float32 | accuracy_warning | 999.906 | 807.353 | 1000.666 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | forward_dynamics_gradient | pinocchio_plain | 16 | float32 | validated | 27.319 | 27.119 | 28.064 | — | — | — | — | — |
| go2 | forward_dynamics_gradient | pinocchio_plain | 32 | float32 | validated | 43.251 | 43.18 | 43.432 | — | — | — | — | — |
| go2 | forward_dynamics_gradient | pinocchio_plain | 64 | float32 | validated | 71.763 | 70.37 | 74.265 | — | — | — | — | — |
| go2 | forward_dynamics_gradient | pinocchio_plain | 128 | float32 | validated | 128.423 | 128.142 | 139.525 | — | — | — | — | — |
| go2 | forward_dynamics_gradient | pinocchio_plain | 256 | float32 | validated | 431.957 | 265.596 | 458.745 | — | — | — | — | — |
| go2 | forward_dynamics_gradient | pinocchio_plain | 1024 | float32 | validated | 941.89 | 934.116 | 1209.116 | — | — | — | — | — |
| go2 | generalized_gravity | bard | 16 | float32 | validated | 1767.548 | 1758.602 | 1773.896 | 1701.225 | 1691.591 | 1711.032 | — | — |
| go2 | generalized_gravity | bard | 32 | float32 | validated | 1791.222 | 1772.001 | 1798.669 | 1730.811 | 1720.356 | 1734.336 | — | — |
| go2 | generalized_gravity | bard | 64 | float32 | validated | 1803.303 | 1787.709 | 1803.431 | 1738.605 | 1726.993 | 1748.45 | — | — |
| go2 | generalized_gravity | bard | 128 | float32 | validated | 1809.376 | 1803.478 | 1814.253 | 1748.321 | 1737.833 | 1755.773 | — | — |
| go2 | generalized_gravity | bard | 256 | float32 | validated | 1809.416 | 1796.828 | 1815.073 | 1746.023 | 1740.73 | 1763.226 | — | — |
| go2 | generalized_gravity | bard | 1024 | float32 | validated | 1867.953 | 1839.048 | 1894.542 | 1801.44 | 1781.302 | 1821.124 | — | — |
| go2 | generalized_gravity | frax | 16 | float32 | validated | 223.041 | 221.755 | 265.72 | 88.749 | 88.717 | 98.338 | — | — |
| go2 | generalized_gravity | frax | 32 | float32 | validated | 282.985 | 235.023 | 298.063 | 114.861 | 98.854 | 225.985 | — | — |
| go2 | generalized_gravity | frax | 64 | float32 | validated | 228.795 | 223.976 | 235.733 | 137.399 | 90.047 | 201.059 | — | — |
| go2 | generalized_gravity | frax | 128 | float32 | validated | 288.097 | 230.173 | 320.53 | 111.191 | 110.953 | 382.449 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | generalized_gravity | frax | 256 | float32 | validated | 239.587 | 238.692 | 375.893 | 97.927 | 97.375 | 109.265 | — | — |
| go2 | generalized_gravity | frax | 1024 | float32 | validated | 366.732 | 323.869 | 380.323 | 343.076 | 125.586 | 416.93 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | generalized_gravity | grid_cuda | 16 | float32 | validated | 28.03 | 27.975 | 28.129 | 22.095 | 22.079 | 22.095 | — | — |
| go2 | generalized_gravity | grid_cuda | 32 | float32 | validated | 27.888 | 27.787 | 27.899 | 21.825 | 21.803 | 21.835 | — | — |
| go2 | generalized_gravity | grid_cuda | 64 | float32 | validated | 28.376 | 28.339 | 28.454 | 21.909 | 21.867 | 21.911 | — | — |
| go2 | generalized_gravity | grid_cuda | 128 | float32 | validated | 28.676 | 28.667 | 28.693 | 21.832 | 21.795 | 21.863 | — | — |
| go2 | generalized_gravity | grid_cuda | 256 | float32 | validated | 28.956 | 28.791 | 28.994 | 21.288 | 21.279 | 21.32 | — | — |
| go2 | generalized_gravity | grid_cuda | 1024 | float32 | validated | 51.3 | 49.661 | 52.965 | 32.68 | 32.652 | 32.688 | — | — |
| go2 | generalized_gravity | grid_jax | 16 | float32 | validated | 124.79 | 120.674 | 151.959 | 49.245 | 47.86 | 57.27 | — | — |
| go2 | generalized_gravity | grid_jax | 32 | float32 | validated | 157.007 | 122.696 | 160.98 | 56.146 | 46.858 | 63.622 | — | — |
| go2 | generalized_gravity | grid_jax | 64 | float32 | validated | 127.038 | 124.305 | 151.782 | 56.484 | 48.006 | 58.908 | — | — |
| go2 | generalized_gravity | grid_jax | 128 | float32 | validated | 149.133 | 148.526 | 388.664 | 47.876 | 47.671 | 54.783 | — | — |
| go2 | generalized_gravity | grid_jax | 256 | float32 | validated | 129.15 | 124.082 | 650.604 | 47.008 | 46.989 | 55.484 | — | — |
| go2 | generalized_gravity | grid_jax | 1024 | float32 | validated | 212.217 | 153.661 | 542.921 | 59.88 | 57.449 | 66.538 | — | — |
| go2 | generalized_gravity | mjx | 16 | float32 | validated | 325.356 | 277.909 | 429.114 | 146.348 | 136.868 | 158.087 | — | — |
| go2 | generalized_gravity | mjx | 32 | float32 | validated | 301.331 | 250.778 | 427.576 | 121.524 | 117.754 | 123.822 | — | — |
| go2 | generalized_gravity | mjx | 64 | float32 | validated | 288.312 | 258.305 | 552.578 | 243.629 | 116.365 | 317.989 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | generalized_gravity | mjx | 128 | float32 | validated | 517.095 | 351.647 | 756.071 | 188.737 | 181.958 | 503.572 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | generalized_gravity | mjx | 256 | float32 | validated | 475.949 | 394.795 | 872.912 | 230.594 | 178.568 | 396.179 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | generalized_gravity | mjx | 1024 | float32 | validated | 816.616 | 625.414 | 910.309 | 346.951 | 328.569 | 592.711 | — | — |
| go2 | generalized_gravity | mujoco_cpu | 16 | float64 | validated | 62.899 | 62.869 | 62.978 | — | — | — | — | — |
| go2 | generalized_gravity | mujoco_cpu | 32 | float64 | validated | 126.422 | 125.315 | 126.732 | — | — | — | — | — |
| go2 | generalized_gravity | mujoco_cpu | 64 | float64 | validated | 257.896 | 256.827 | 267.845 | — | — | — | — | — |
| go2 | generalized_gravity | mujoco_cpu | 128 | float64 | validated | 555.173 | 545.229 | 559.606 | — | — | — | — | — |
| go2 | generalized_gravity | mujoco_cpu | 256 | float64 | validated | 1130.066 | 1104.761 | 1134.884 | — | — | — | — | — |
| go2 | generalized_gravity | mujoco_cpu | 1024 | float64 | validated | 5832.045 | 5694.591 | 5898.134 | — | — | — | — | — |
| go2 | generalized_gravity | mujoco_warp | 16 | float32 | validated | 149.673 | 148.997 | 149.689 | 117.118 | 117.075 | 117.429 | — | — |
| go2 | generalized_gravity | mujoco_warp | 32 | float32 | validated | 158.79 | 158.094 | 159.572 | 124.564 | 124.508 | 124.735 | — | — |
| go2 | generalized_gravity | mujoco_warp | 64 | float32 | validated | 172.823 | 171.758 | 173.657 | 136.031 | 136.02 | 136.041 | — | — |
| go2 | generalized_gravity | mujoco_warp | 128 | float32 | validated | 176.453 | 176.423 | 176.552 | 141.196 | 141.179 | 141.256 | — | — |
| go2 | generalized_gravity | mujoco_warp | 256 | float32 | validated | 180.462 | 178.704 | 181.083 | 144.289 | 144.276 | 144.315 | — | — |
| go2 | generalized_gravity | mujoco_warp | 1024 | float32 | validated | 209.782 | 209.5 | 210.234 | 159.998 | 159.957 | 160.04 | — | — |
| go2 | generalized_gravity | pinocchio | 16 | float32 | validated | 7.136 | 7.131 | 8.2 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio | 32 | float32 | validated | 11.999 | 11.577 | 12.055 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio | 64 | float32 | validated | 13.201 | 13.127 | 13.897 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio | 128 | float32 | validated | 15.962 | 15.831 | 16.127 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio | 256 | float32 | validated | 21.759 | 21.752 | 21.866 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio | 1024 | float32 | validated | 55.449 | 49.942 | 55.723 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio_plain | 16 | float32 | validated | 11.164 | 11.033 | 11.39 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio_plain | 32 | float32 | validated | 12.694 | 12.639 | 12.882 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio_plain | 64 | float32 | validated | 15.408 | 15.148 | 16.548 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio_plain | 128 | float32 | validated | 20.474 | 20.365 | 20.711 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio_plain | 256 | float32 | validated | 31.244 | 31.035 | 31.32 | — | — | — | — | — |
| go2 | generalized_gravity | pinocchio_plain | 1024 | float32 | validated | 95.052 | 94.741 | 95.399 | — | — | — | — | — |
| go2 | minv | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | minv | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | minv | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | minv | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | minv | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | minv | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| go2 | minv | frax | 16 | float32 | validated | 300.94 | 285.83 | 329.071 | 183.65 | 131.99 | 442.79 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | minv | frax | 32 | float32 | validated | 323.143 | 300.981 | 362.449 | 305.615 | 147.56 | 412.52 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | minv | frax | 64 | float32 | validated | 331.286 | 306.372 | 347.496 | 169.252 | 135.369 | 322.769 | — | — |
| go2 | minv | frax | 128 | float32 | accuracy_warning | 579.463 | 339.155 | 605.391 | 220.078 | 185.828 | 422.21 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | minv | frax | 256 | float32 | validation_failed | — | — | — | — | — | — | — | ValueError: Independent-oracle validation failed; no timing collected |
| go2 | minv | frax | 1024 | float32 | accuracy_warning | 769.9 | 572.385 | 874.144 | 354.985 | 276.923 | 395.058 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| go2 | minv | grid_cuda | 16 | float32 | validated | 35.317 | 35.285 | 35.4 | 25.76 | 25.672 | 25.777 | — | — |
| go2 | minv | grid_cuda | 32 | float32 | validated | 35.857 | 35.837 | 35.926 | 25.6 | 25.587 | 25.62 | — | — |
| go2 | minv | grid_cuda | 64 | float32 | validated | 37.443 | 37.428 | 37.524 | 25.632 | 25.628 | 25.672 | — | — |
| go2 | minv | grid_cuda | 128 | float32 | validated | 39.927 | 39.543 | 40.065 | 25.595 | 25.553 | 25.613 | — | — |
| go2 | minv | grid_cuda | 256 | float32 | validated | 45.414 | 45.348 | 45.494 | 26.154 | 26.138 | 26.178 | — | — |
| go2 | minv | grid_cuda | 1024 | float32 | validated | 121.707 | 121.185 | 122.058 | 43.678 | 43.644 | 43.741 | — | — |
| go2 | minv | grid_jax | 16 | float32 | validated | 153.372 | 130.133 | 154.491 | 63.237 | 53.783 | 63.803 | — | — |
| go2 | minv | grid_jax | 32 | float32 | validated | 158.52 | 132.852 | 160.086 | 61.352 | 52.691 | 61.67 | — | — |
| go2 | minv | grid_jax | 64 | float32 | validated | 143.791 | 141.66 | 166.711 | 62.003 | 52.006 | 62.717 | — | — |
| go2 | minv | grid_jax | 128 | float32 | validated | 170.542 | 161.153 | 426.086 | 61.287 | 60.628 | 112.723 | — | — |
| go2 | minv | grid_jax | 256 | float32 | validated | 458.443 | 173.066 | 534.624 | 54.446 | 53.034 | 62.596 | — | — |
| go2 | minv | grid_jax | 1024 | float32 | validated | 560.964 | 415.264 | 816.531 | 81.872 | 71.209 | 173.176 | — | — |
| go2 | minv | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| go2 | minv | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| go2 | minv | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| go2 | minv | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| go2 | minv | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| go2 | minv | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| go2 | minv | mujoco_cpu | 16 | float64 | validated | 142.019 | 138.806 | 142.61 | — | — | — | — | — |
| go2 | minv | mujoco_cpu | 32 | float64 | validated | 281.604 | 279.624 | 284.807 | — | — | — | — | — |
| go2 | minv | mujoco_cpu | 64 | float64 | validated | 575.686 | 569.921 | 576.94 | — | — | — | — | — |
| go2 | minv | mujoco_cpu | 128 | float64 | validated | 1162.448 | 1151.38 | 1176.367 | — | — | — | — | — |
| go2 | minv | mujoco_cpu | 256 | float64 | validated | 2348.357 | 2327.095 | 2378.606 | — | — | — | — | — |
| go2 | minv | mujoco_cpu | 1024 | float64 | validated | 11655.685 | 11535.478 | 11819.801 | — | — | — | — | — |
| go2 | minv | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| go2 | minv | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| go2 | minv | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| go2 | minv | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| go2 | minv | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| go2 | minv | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| go2 | minv | pinocchio | 16 | float32 | validated | 13.581 | 13.512 | 13.725 | — | — | — | — | — |
| go2 | minv | pinocchio | 32 | float32 | validated | 16.989 | 16.846 | 18.059 | — | — | — | — | — |
| go2 | minv | pinocchio | 64 | float32 | validated | 23.567 | 23.394 | 23.768 | — | — | — | — | — |
| go2 | minv | pinocchio | 128 | float32 | validated | 36.979 | 36.867 | 36.979 | — | — | — | — | — |
| go2 | minv | pinocchio | 256 | float32 | validated | 63.762 | 62.874 | 63.795 | — | — | — | — | — |
| go2 | minv | pinocchio | 1024 | float32 | validated | 375.713 | 221.521 | 403.257 | — | — | — | — | — |
| go2 | minv | pinocchio_plain | 16 | float32 | validated | 15.88 | 15.854 | 15.941 | — | — | — | — | — |
| go2 | minv | pinocchio_plain | 32 | float32 | validated | 21.182 | 21.148 | 21.221 | — | — | — | — | — |
| go2 | minv | pinocchio_plain | 64 | float32 | validated | 31.439 | 31.389 | 31.924 | — | — | — | — | — |
| go2 | minv | pinocchio_plain | 128 | float32 | validated | 46.374 | 46.191 | 52.559 | — | — | — | — | — |
| go2 | minv | pinocchio_plain | 256 | float32 | validated | 83.509 | 82.583 | 93.936 | — | — | — | — | — |
| go2 | minv | pinocchio_plain | 1024 | float32 | validated | 297.031 | 291.418 | 483.508 | — | — | — | — | — |
| go2 | nonlinear_effects | bard | 16 | float32 | validated | 1777.688 | 1771.833 | 1791.017 | 1726.14 | 1712.089 | 1730.384 | — | — |
| go2 | nonlinear_effects | bard | 32 | float32 | validated | 1809.036 | 1800.907 | 1813.337 | 1752.593 | 1735.614 | 1756.12 | — | — |
| go2 | nonlinear_effects | bard | 64 | float32 | validated | 1811.258 | 1806.831 | 1818.099 | 1748.642 | 1746.493 | 1756.144 | — | — |
| go2 | nonlinear_effects | bard | 128 | float32 | validated | 1832.882 | 1807.359 | 1833.318 | 1765.891 | 1745.351 | 1769.371 | — | — |
| go2 | nonlinear_effects | bard | 256 | float32 | validated | 1833.867 | 1809.867 | 1836.085 | 1770.409 | 1742.66 | 1795.568 | — | — |
| go2 | nonlinear_effects | bard | 1024 | float32 | validated | 1878.406 | 1866.392 | 1893.285 | 1805.573 | 1796.765 | 1827.575 | — | — |
| go2 | nonlinear_effects | frax | 16 | float32 | validated | 242.27 | 225.513 | 248.71 | 96.187 | 93.056 | 98.643 | — | — |
| go2 | nonlinear_effects | frax | 32 | float32 | validated | 227.884 | 225.178 | 228.282 | 179.114 | 98.343 | 197.614 | — | — |
| go2 | nonlinear_effects | frax | 64 | float32 | validated | 228.773 | 227.743 | 250.207 | 90.94 | 90.568 | 267.799 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | nonlinear_effects | frax | 128 | float32 | validated | 230.249 | 228.544 | 236.047 | 98.973 | 98.721 | 318.81 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | nonlinear_effects | frax | 256 | float32 | validated | 411.849 | 320.843 | 420.33 | 99.451 | 96.997 | 107.042 | — | — |
| go2 | nonlinear_effects | frax | 1024 | float32 | validated | 331.569 | 271.566 | 406.146 | 323.38 | 127.281 | 351.929 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | nonlinear_effects | grid_cuda | 16 | float32 | validated | 27.949 | 27.92 | 27.959 | 22.084 | 22.06 | 22.636 | — | — |
| go2 | nonlinear_effects | grid_cuda | 32 | float32 | validated | 27.826 | 27.777 | 27.87 | 21.858 | 21.834 | 21.882 | — | — |
| go2 | nonlinear_effects | grid_cuda | 64 | float32 | validated | 28.472 | 28.386 | 30.455 | 21.94 | 21.914 | 21.996 | — | — |
| go2 | nonlinear_effects | grid_cuda | 128 | float32 | validated | 28.699 | 28.662 | 28.722 | 21.99 | 21.982 | 21.996 | — | — |
| go2 | nonlinear_effects | grid_cuda | 256 | float32 | validated | 28.83 | 28.756 | 28.936 | 21.382 | 21.371 | 21.42 | — | — |
| go2 | nonlinear_effects | grid_cuda | 1024 | float32 | validated | 73.605 | 73.056 | 74.161 | 54.247 | 54.181 | 54.29 | — | — |
| go2 | nonlinear_effects | grid_jax | 16 | float32 | validated | 161.345 | 159.239 | 163.2 | 50.495 | 48.09 | 81.664 | — | — |
| go2 | nonlinear_effects | grid_jax | 32 | float32 | validated | 164.669 | 163.969 | 175.373 | 49.315 | 48.219 | 59.815 | — | — |
| go2 | nonlinear_effects | grid_jax | 64 | float32 | validated | 169.407 | 164.502 | 306.006 | 51.558 | 50.265 | 52.134 | — | — |
| go2 | nonlinear_effects | grid_jax | 128 | float32 | validated | 164.153 | 160.247 | 206.745 | 49.521 | 48.643 | 50.632 | — | — |
| go2 | nonlinear_effects | grid_jax | 256 | float32 | validated | 243.504 | 181.121 | 263.216 | 57.996 | 48.942 | 59.431 | — | — |
| go2 | nonlinear_effects | grid_jax | 1024 | float32 | validated | 306.815 | 210.105 | 573.388 | 82.861 | 82.494 | 86.271 | — | — |
| go2 | nonlinear_effects | mjx | 16 | float32 | validated | 462.881 | 420.149 | 646.131 | 146.408 | 143.822 | 245.076 | — | — |
| go2 | nonlinear_effects | mjx | 32 | float32 | validated | 397.201 | 359.073 | 466.247 | 164.439 | 121.408 | 307.8 | — | — |
| go2 | nonlinear_effects | mjx | 64 | float32 | validated | 422.105 | 364.495 | 423.274 | 167.691 | 118.064 | 185.008 | — | — |
| go2 | nonlinear_effects | mjx | 128 | float32 | validated | 421.719 | 398.2 | 471.554 | 370.593 | 226.917 | 426.412 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| go2 | nonlinear_effects | mjx | 256 | float32 | validated | 452.12 | 429.915 | 487.458 | 185.485 | 176.677 | 210.351 | — | — |
| go2 | nonlinear_effects | mjx | 1024 | float32 | validated | 812.327 | 740.823 | 823.417 | 330.606 | 325.276 | 377.606 | — | — |
| go2 | nonlinear_effects | mujoco_cpu | 16 | float64 | validated | 63.274 | 63.097 | 63.733 | — | — | — | — | — |
| go2 | nonlinear_effects | mujoco_cpu | 32 | float64 | validated | 125.404 | 125.339 | 125.535 | — | — | — | — | — |
| go2 | nonlinear_effects | mujoco_cpu | 64 | float64 | validated | 260.768 | 256.706 | 264.217 | — | — | — | — | — |
| go2 | nonlinear_effects | mujoco_cpu | 128 | float64 | validated | 555.762 | 543.721 | 556.987 | — | — | — | — | — |
| go2 | nonlinear_effects | mujoco_cpu | 256 | float64 | validated | 1127.975 | 1106.649 | 1139.136 | — | — | — | — | — |
| go2 | nonlinear_effects | mujoco_cpu | 1024 | float64 | validated | 5796.688 | 5693.787 | 5902.834 | — | — | — | — | — |
| go2 | nonlinear_effects | mujoco_warp | 16 | float32 | validated | 150.069 | 149.311 | 151.102 | 117.561 | 117.512 | 117.729 | — | — |
| go2 | nonlinear_effects | mujoco_warp | 32 | float32 | validated | 159.288 | 158.975 | 160.856 | 124.812 | 124.697 | 125.296 | — | — |
| go2 | nonlinear_effects | mujoco_warp | 64 | float32 | validated | 172.619 | 172.543 | 173.655 | 136.063 | 135.99 | 136.155 | — | — |
| go2 | nonlinear_effects | mujoco_warp | 128 | float32 | validated | 176.997 | 176.363 | 177.275 | 141.274 | 141.184 | 141.275 | — | — |
| go2 | nonlinear_effects | mujoco_warp | 256 | float32 | validated | 179.705 | 179.273 | 180.057 | 144.438 | 144.34 | 144.492 | — | — |
| go2 | nonlinear_effects | mujoco_warp | 1024 | float32 | validated | 209.498 | 209.318 | 209.914 | 160.804 | 160.752 | 160.931 | — | — |
| go2 | nonlinear_effects | pinocchio | 16 | float32 | validated | 6.94 | 6.916 | 7.008 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio | 32 | float32 | validated | 11.897 | 11.895 | 11.948 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio | 64 | float32 | validated | 13.588 | 13.175 | 14.486 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio | 128 | float32 | validated | 15.813 | 15.494 | 16.74 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio | 256 | float32 | validated | 25.383 | 21.444 | 41.772 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio | 1024 | float32 | validated | 54.683 | 49.612 | 57.733 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio_plain | 16 | float32 | validated | 12.006 | 11.968 | 12.508 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio_plain | 32 | float32 | validated | 13.662 | 13.591 | 13.698 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio_plain | 64 | float32 | validated | 17.015 | 16.928 | 23.953 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio_plain | 128 | float32 | validated | 24.048 | 23.922 | 24.202 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio_plain | 256 | float32 | validated | 37.959 | 37.955 | 38.088 | — | — | — | — | — |
| go2 | nonlinear_effects | pinocchio_plain | 1024 | float32 | validated | 105.33 | 104.744 | 121.82 | — | — | — | — | — |
| iiwa14 | ccrba | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | frax | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | frax | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | frax | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | frax | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | frax | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | frax | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | grid_cuda | 16 | float32 | validated | 27.391 | 27.356 | 28.972 | 21.525 | 21.51 | 21.552 | — | — |
| iiwa14 | ccrba | grid_cuda | 32 | float32 | validated | 27.408 | 27.345 | 27.684 | 21.526 | 21.496 | 21.561 | — | — |
| iiwa14 | ccrba | grid_cuda | 64 | float32 | validated | 27.62 | 27.582 | 27.728 | 21.486 | 21.472 | 21.551 | — | — |
| iiwa14 | ccrba | grid_cuda | 128 | float32 | validated | 28.125 | 28.072 | 28.206 | 21.627 | 21.599 | 21.653 | — | — |
| iiwa14 | ccrba | grid_cuda | 256 | float32 | validated | 29.912 | 29.809 | 29.912 | 22.066 | 22.036 | 22.097 | — | — |
| iiwa14 | ccrba | grid_cuda | 1024 | float32 | validated | 51.096 | 51.084 | 51.128 | 37.662 | 37.643 | 37.704 | — | — |
| iiwa14 | ccrba | grid_jax | 16 | float32 | validated | 216.596 | 184.864 | 217.457 | 52.74 | 51.793 | 53.067 | — | — |
| iiwa14 | ccrba | grid_jax | 32 | float32 | validated | 190.469 | 182.921 | 192.363 | 51.669 | 51.044 | 62.68 | — | — |
| iiwa14 | ccrba | grid_jax | 64 | float32 | validated | 191.248 | 181.008 | 321.331 | 61.209 | 51.994 | 61.861 | — | — |
| iiwa14 | ccrba | grid_jax | 128 | float32 | validated | 188.662 | 182.97 | 203.558 | 61.112 | 52.236 | 63.738 | — | — |
| iiwa14 | ccrba | grid_jax | 256 | float32 | validated | 192.878 | 185.739 | 195.224 | 62.579 | 50.657 | 66.879 | — | — |
| iiwa14 | ccrba | grid_jax | 1024 | float32 | validated | 233.194 | 225.346 | 234.531 | 68.558 | 68.123 | 107.505 | — | — |
| iiwa14 | ccrba | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | ccrba | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | ccrba | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | ccrba | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | ccrba | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | ccrba | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | ccrba | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | ccrba | pinocchio_plain | 16 | float32 | validated | 10.203 | 10.109 | 10.283 | — | — | — | — | — |
| iiwa14 | ccrba | pinocchio_plain | 32 | float32 | validated | 12.882 | 12.688 | 14.024 | — | — | — | — | — |
| iiwa14 | ccrba | pinocchio_plain | 64 | float32 | validated | 14.712 | 14.593 | 14.722 | — | — | — | — | — |
| iiwa14 | ccrba | pinocchio_plain | 128 | float32 | validated | 19.078 | 19.048 | 19.241 | — | — | — | — | — |
| iiwa14 | ccrba | pinocchio_plain | 256 | float32 | validated | 27.962 | 27.808 | 28.2 | — | — | — | — | — |
| iiwa14 | ccrba | pinocchio_plain | 1024 | float32 | validated | 74.161 | 73.034 | 75.632 | — | — | — | — | — |
| iiwa14 | coriolis_matrix | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | frax | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | frax | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | frax | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | frax | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | frax | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | frax | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | grid_cuda | 16 | float32 | validated | 43.71 | 43.547 | 43.742 | 36.787 | 36.7 | 36.788 | — | — |
| iiwa14 | coriolis_matrix | grid_cuda | 32 | float32 | validated | 44.009 | 43.983 | 44.023 | 36.854 | 36.779 | 36.896 | — | — |
| iiwa14 | coriolis_matrix | grid_cuda | 64 | float32 | validated | 44.016 | 44.008 | 44.021 | 36.96 | 36.93 | 37.32 | — | — |
| iiwa14 | coriolis_matrix | grid_cuda | 128 | float32 | validated | 44.153 | 44.119 | 44.292 | 37.183 | 37.131 | 37.516 | — | — |
| iiwa14 | coriolis_matrix | grid_cuda | 256 | float32 | validated | 45.407 | 45.209 | 45.416 | 39.45 | 39.356 | 39.843 | — | — |
| iiwa14 | coriolis_matrix | grid_cuda | 1024 | float32 | validated | 88.764 | 87.414 | 89.769 | 77.241 | 77.221 | 77.643 | — | — |
| iiwa14 | coriolis_matrix | grid_jax | 16 | float32 | validated | 170.443 | 166.653 | 172.025 | 61.199 | 60.704 | 70.179 | — | — |
| iiwa14 | coriolis_matrix | grid_jax | 32 | float32 | validated | 175.961 | 169.145 | 181.844 | 61.472 | 60.856 | 89.07 | — | — |
| iiwa14 | coriolis_matrix | grid_jax | 64 | float32 | validated | 172.371 | 169.45 | 173.952 | 62.666 | 61.261 | 63.045 | — | — |
| iiwa14 | coriolis_matrix | grid_jax | 128 | float32 | validated | 178.387 | 175.796 | 204.006 | 61.144 | 60.419 | 61.395 | — | — |
| iiwa14 | coriolis_matrix | grid_jax | 256 | float32 | validated | 179.908 | 176.917 | 204.09 | 61.504 | 61.434 | 61.766 | — | — |
| iiwa14 | coriolis_matrix | grid_jax | 1024 | float32 | validated | 345.525 | 315.892 | 610.322 | 144.583 | 143.389 | 373.485 | — | — |
| iiwa14 | coriolis_matrix | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched centroidal-momentum / Coriolis-matrix output in this library's public API |
| iiwa14 | coriolis_matrix | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | coriolis_matrix | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | coriolis_matrix | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | coriolis_matrix | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | coriolis_matrix | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | coriolis_matrix | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no CppADCodeGen class for this operation; see pinocchio_plain |
| iiwa14 | coriolis_matrix | pinocchio_plain | 16 | float32 | validated | 13.02 | 12.94 | 13.287 | — | — | — | — | — |
| iiwa14 | coriolis_matrix | pinocchio_plain | 32 | float32 | validated | 16.822 | 15.974 | 16.863 | — | — | — | — | — |
| iiwa14 | coriolis_matrix | pinocchio_plain | 64 | float32 | validated | 21.364 | 21.328 | 23.616 | — | — | — | — | — |
| iiwa14 | coriolis_matrix | pinocchio_plain | 128 | float32 | validated | 33.912 | 32.719 | 34.11 | — | — | — | — | — |
| iiwa14 | coriolis_matrix | pinocchio_plain | 256 | float32 | validated | 51.55 | 50.635 | 56.4 | — | — | — | — | — |
| iiwa14 | coriolis_matrix | pinocchio_plain | 1024 | float32 | validated | 197.879 | 178.759 | 363.002 | — | — | — | — | — |
| iiwa14 | crba | bard | 16 | float32 | validated | 1590.429 | 1574.517 | 1590.801 | 1536.535 | 1527.837 | 1541.005 | — | — |
| iiwa14 | crba | bard | 32 | float32 | validated | 1596.972 | 1576.798 | 1598.831 | 1532.67 | 1515.517 | 1536.373 | — | — |
| iiwa14 | crba | bard | 64 | float32 | validated | 1611.205 | 1586.287 | 1618.023 | 1546.52 | 1528.599 | 1547.772 | — | — |
| iiwa14 | crba | bard | 128 | float32 | validated | 1611.088 | 1605.83 | 1625.947 | 1544.711 | 1537.525 | 1567.253 | — | — |
| iiwa14 | crba | bard | 256 | float32 | validated | 1630.821 | 1620.334 | 1643.525 | 1574.254 | 1542.846 | 1590.244 | — | — |
| iiwa14 | crba | bard | 1024 | float32 | validated | 1665.397 | 1650.926 | 1689.029 | 1569.797 | 1549.672 | 1581.954 | — | — |
| iiwa14 | crba | frax | 16 | float32 | validated | 314.565 | 193.882 | 353.151 | 59.42 | 58.13 | 62.866 | — | — |
| iiwa14 | crba | frax | 32 | float32 | validated | 240.196 | 194.848 | 414.464 | 58.442 | 57.506 | 244.725 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| iiwa14 | crba | frax | 64 | float32 | validated | 282.53 | 209.813 | 514.428 | 60.768 | 60.632 | 67.942 | — | — |
| iiwa14 | crba | frax | 128 | float32 | validated | 227.822 | 204.08 | 380.968 | 57.325 | 56.172 | 66.809 | — | — |
| iiwa14 | crba | frax | 256 | float32 | validated | 224.284 | 201.007 | 248.938 | 59.871 | 59.835 | 59.92 | — | — |
| iiwa14 | crba | frax | 1024 | float32 | validated | 333.382 | 327.485 | 420.647 | 61.726 | 61.29 | 69.618 | — | — |
| iiwa14 | crba | grid_cuda | 16 | float32 | validated | 16.789 | 16.478 | 16.793 | 10.974 | 10.95 | 11.008 | — | — |
| iiwa14 | crba | grid_cuda | 32 | float32 | validated | 16.659 | 16.621 | 16.7 | 10.963 | 10.932 | 10.965 | — | — |
| iiwa14 | crba | grid_cuda | 64 | float32 | validated | 16.866 | 16.84 | 16.867 | 10.898 | 10.875 | 10.933 | — | — |
| iiwa14 | crba | grid_cuda | 128 | float32 | validated | 17.493 | 17.414 | 17.498 | 10.989 | 10.959 | 11.003 | — | — |
| iiwa14 | crba | grid_cuda | 256 | float32 | validated | 19.043 | 18.917 | 19.186 | 11.222 | 11.153 | 11.247 | — | — |
| iiwa14 | crba | grid_cuda | 1024 | float32 | validated | 29.443 | 29.238 | 29.473 | 16.793 | 16.778 | 16.798 | — | — |
| iiwa14 | crba | grid_jax | 16 | float32 | validated | 111.334 | 109.956 | 131.155 | 36.084 | 35.775 | 36.283 | — | — |
| iiwa14 | crba | grid_jax | 32 | float32 | validated | 110.617 | 110.244 | 111.43 | 36.226 | 35.108 | 36.254 | — | — |
| iiwa14 | crba | grid_jax | 64 | float32 | validated | 114.816 | 112.302 | 115.841 | 35.55 | 33.66 | 35.662 | — | — |
| iiwa14 | crba | grid_jax | 128 | float32 | validated | 114.565 | 113.568 | 117.954 | 35.543 | 35.513 | 37.146 | — | — |
| iiwa14 | crba | grid_jax | 256 | float32 | validated | 116.799 | 116.701 | 119.351 | 36.446 | 35.776 | 37.059 | — | — |
| iiwa14 | crba | grid_jax | 1024 | float32 | validated | 148.423 | 147.683 | 153.139 | 43.439 | 42.16 | 50.858 | — | — |
| iiwa14 | crba | mjx | 16 | float32 | validated | 355.617 | 280.115 | 355.882 | 92.109 | 83.603 | 134.64 | — | — |
| iiwa14 | crba | mjx | 32 | float32 | validated | 291.817 | 261.386 | 504.18 | 88.172 | 87.549 | 98.299 | — | — |
| iiwa14 | crba | mjx | 64 | float32 | validated | 586.524 | 312.623 | 657.155 | 96.509 | 86.965 | 96.567 | — | — |
| iiwa14 | crba | mjx | 128 | float32 | validated | 297.662 | 293.415 | 345.665 | 96.188 | 85.976 | 104.215 | — | — |
| iiwa14 | crba | mjx | 256 | float32 | validated | 448.119 | 330.761 | 535.66 | 95.135 | 94.57 | 146.521 | — | — |
| iiwa14 | crba | mjx | 1024 | float32 | validated | 501.662 | 493.484 | 531.579 | 108.395 | 107.648 | 112.302 | — | — |
| iiwa14 | crba | mujoco_cpu | 16 | float64 | validated | 40.085 | 39.604 | 40.202 | — | — | — | — | — |
| iiwa14 | crba | mujoco_cpu | 32 | float64 | validated | 78.808 | 78.395 | 79.153 | — | — | — | — | — |
| iiwa14 | crba | mujoco_cpu | 64 | float64 | validated | 154.403 | 153.964 | 156.483 | — | — | — | — | — |
| iiwa14 | crba | mujoco_cpu | 128 | float64 | validated | 314.72 | 309.65 | 317.676 | — | — | — | — | — |
| iiwa14 | crba | mujoco_cpu | 256 | float64 | validated | 651.996 | 648.367 | 658.775 | — | — | — | — | — |
| iiwa14 | crba | mujoco_cpu | 1024 | float64 | validated | 2699.521 | 2685.85 | 2704.954 | — | — | — | — | — |
| iiwa14 | crba | mujoco_warp | 16 | float32 | validated | 84.85 | 84.302 | 84.874 | 54.203 | 54.197 | 54.25 | — | — |
| iiwa14 | crba | mujoco_warp | 32 | float32 | validated | 94.599 | 93.576 | 96.245 | 57.567 | 57.534 | 57.614 | — | — |
| iiwa14 | crba | mujoco_warp | 64 | float32 | validated | 94.612 | 94.475 | 95.251 | 62.182 | 62.163 | 62.205 | — | — |
| iiwa14 | crba | mujoco_warp | 128 | float32 | validated | 109.88 | 109.108 | 110.501 | 70.318 | 70.254 | 70.336 | — | — |
| iiwa14 | crba | mujoco_warp | 256 | float32 | validated | 123.055 | 121.572 | 124.438 | 80.864 | 80.824 | 80.875 | — | — |
| iiwa14 | crba | mujoco_warp | 1024 | float32 | validated | 159.771 | 159.12 | 160.754 | 93.402 | 93.314 | 93.426 | — | — |
| iiwa14 | crba | pinocchio | 16 | float32 | validated | 6.237 | 6.138 | 6.254 | — | — | — | — | — |
| iiwa14 | crba | pinocchio | 32 | float32 | validated | 10.268 | 10.249 | 10.292 | — | — | — | — | — |
| iiwa14 | crba | pinocchio | 64 | float32 | validated | 12.299 | 12.165 | 12.813 | — | — | — | — | — |
| iiwa14 | crba | pinocchio | 128 | float32 | validated | 14.695 | 14.485 | 14.729 | — | — | — | — | — |
| iiwa14 | crba | pinocchio | 256 | float32 | validated | 19.235 | 19.041 | 19.381 | — | — | — | — | — |
| iiwa14 | crba | pinocchio | 1024 | float32 | validated | 46.265 | 46.164 | 46.956 | — | — | — | — | — |
| iiwa14 | crba | pinocchio_plain | 16 | float32 | validated | 12.459 | 12.038 | 12.634 | — | — | — | — | — |
| iiwa14 | crba | pinocchio_plain | 32 | float32 | validated | 14.401 | 13.733 | 15.153 | — | — | — | — | — |
| iiwa14 | crba | pinocchio_plain | 64 | float32 | validated | 18.181 | 18.143 | 18.241 | — | — | — | — | — |
| iiwa14 | crba | pinocchio_plain | 128 | float32 | validated | 26.706 | 26.454 | 26.888 | — | — | — | — | — |
| iiwa14 | crba | pinocchio_plain | 256 | float32 | validated | 43.043 | 42.861 | 44.73 | — | — | — | — | — |
| iiwa14 | crba | pinocchio_plain | 1024 | float32 | validated | 147.56 | 147.303 | 153.305 | — | — | — | — | — |
| iiwa14 | end_effector_pose | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose | frax | 16 | float32 | validated | 181.468 | 170.737 | 198.954 | 45.965 | 32.744 | 60.762 | — | — |
| iiwa14 | end_effector_pose | frax | 32 | float32 | validated | 194.909 | 169.232 | 229.876 | 41.055 | 31.414 | 59.754 | — | — |
| iiwa14 | end_effector_pose | frax | 64 | float32 | validated | 196.79 | 176.614 | 307.542 | 50.312 | 35.481 | 59.643 | — | — |
| iiwa14 | end_effector_pose | frax | 128 | float32 | validated | 180.236 | 176.268 | 182.838 | 32.679 | 30.557 | 32.947 | — | — |
| iiwa14 | end_effector_pose | frax | 256 | float32 | validated | 217.256 | 206.584 | 244.13 | 48.249 | 47.999 | 131.697 | — | — |
| iiwa14 | end_effector_pose | frax | 1024 | float32 | validated | 222.764 | 196.053 | 229.216 | 35.132 | 33.16 | 65.032 | — | — |
| iiwa14 | end_effector_pose | grid_cuda | 16 | float32 | validated | 16.612 | 16.543 | 16.648 | 7.531 | 7.514 | 7.538 | — | — |
| iiwa14 | end_effector_pose | grid_cuda | 32 | float32 | validated | 16.677 | 16.647 | 16.732 | 7.464 | 7.464 | 7.484 | — | — |
| iiwa14 | end_effector_pose | grid_cuda | 64 | float32 | validated | 16.847 | 16.831 | 16.895 | 7.505 | 7.501 | 7.527 | — | — |
| iiwa14 | end_effector_pose | grid_cuda | 128 | float32 | validated | 17.251 | 17.129 | 17.292 | 7.474 | 7.455 | 7.531 | — | — |
| iiwa14 | end_effector_pose | grid_cuda | 256 | float32 | validated | 18.124 | 17.975 | 19.546 | 7.537 | 7.523 | 7.544 | — | — |
| iiwa14 | end_effector_pose | grid_cuda | 1024 | float32 | validated | 19.576 | 19.536 | 19.689 | 7.813 | 7.807 | 7.822 | — | — |
| iiwa14 | end_effector_pose | grid_jax | 16 | float32 | validated | 108.664 | 106.768 | 108.72 | 23.039 | 21.835 | 24.228 | — | — |
| iiwa14 | end_effector_pose | grid_jax | 32 | float32 | validated | 109.533 | 103.746 | 112.717 | 22.826 | 22.702 | 39.923 | — | — |
| iiwa14 | end_effector_pose | grid_jax | 64 | float32 | validated | 116.171 | 110.346 | 517.453 | 24.516 | 23.107 | 25.437 | — | — |
| iiwa14 | end_effector_pose | grid_jax | 128 | float32 | validated | 111.365 | 111.122 | 126.638 | 23.294 | 23.016 | 51.962 | — | — |
| iiwa14 | end_effector_pose | grid_jax | 256 | float32 | validated | 125.728 | 111.636 | 555.578 | 23.145 | 23.094 | 135.366 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| iiwa14 | end_effector_pose | grid_jax | 1024 | float32 | validated | 138.981 | 128.573 | 203.007 | 23.052 | 22.95 | 38.03 | — | — |
| iiwa14 | end_effector_pose | mjx | 16 | float32 | validated | 300.715 | 281.733 | 370.716 | 56.818 | 54.827 | 65.08 | — | — |
| iiwa14 | end_effector_pose | mjx | 32 | float32 | validated | 256.488 | 203.975 | 256.659 | 61.836 | 59.942 | 69.627 | — | — |
| iiwa14 | end_effector_pose | mjx | 64 | float32 | validated | 263.395 | 194.689 | 281.604 | 61.864 | 61.615 | 62.424 | — | — |
| iiwa14 | end_effector_pose | mjx | 128 | float32 | validated | 241.384 | 195.111 | 392.087 | 63.683 | 62.016 | 73.347 | — | — |
| iiwa14 | end_effector_pose | mjx | 256 | float32 | validated | 334.631 | 209.957 | 467.371 | 70.832 | 70.728 | 190.177 | — | — |
| iiwa14 | end_effector_pose | mjx | 1024 | float32 | validated | 282.7 | 225.747 | 520.802 | 55.316 | 53.573 | 55.935 | — | — |
| iiwa14 | end_effector_pose | mujoco_cpu | 16 | float64 | validated | 87.315 | 87.046 | 88.889 | — | — | — | — | — |
| iiwa14 | end_effector_pose | mujoco_cpu | 32 | float64 | validated | 171.953 | 171.023 | 175.657 | — | — | — | — | — |
| iiwa14 | end_effector_pose | mujoco_cpu | 64 | float64 | validated | 337.965 | 336.114 | 347.373 | — | — | — | — | — |
| iiwa14 | end_effector_pose | mujoco_cpu | 128 | float64 | validated | 676.29 | 674.892 | 700.88 | — | — | — | — | — |
| iiwa14 | end_effector_pose | mujoco_cpu | 256 | float64 | validated | 1367.71 | 1367.461 | 1414.126 | — | — | — | — | — |
| iiwa14 | end_effector_pose | mujoco_cpu | 1024 | float64 | validated | 5607.682 | 5595.428 | 5772.424 | — | — | — | — | — |
| iiwa14 | end_effector_pose | mujoco_warp | 16 | float32 | validated | 54.671 | 54.009 | 55.883 | 20.36 | 20.344 | 20.415 | — | — |
| iiwa14 | end_effector_pose | mujoco_warp | 32 | float32 | validated | 55.4 | 55.324 | 57.143 | 22.4 | 22.377 | 22.452 | — | — |
| iiwa14 | end_effector_pose | mujoco_warp | 64 | float32 | validated | 55.746 | 54.794 | 57.495 | 23.998 | 23.93 | 24.108 | — | — |
| iiwa14 | end_effector_pose | mujoco_warp | 128 | float32 | validated | 57.801 | 57.498 | 59.742 | 27.961 | 27.91 | 27.996 | — | — |
| iiwa14 | end_effector_pose | mujoco_warp | 256 | float32 | validated | 68.354 | 67.78 | 69.06 | 31.807 | 31.734 | 31.839 | — | — |
| iiwa14 | end_effector_pose | mujoco_warp | 1024 | float32 | validated | 74.071 | 73.288 | 75.237 | 32.662 | 32.642 | 32.682 | — | — |
| iiwa14 | end_effector_pose | pinocchio | 16 | float64 | validated | 6.932 | 6.881 | 7.003 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio | 32 | float64 | validated | 11.942 | 11.76 | 12.313 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio | 64 | float64 | validated | 13.514 | 13.345 | 13.639 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio | 128 | float64 | validated | 17.205 | 17.023 | 17.225 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio | 256 | float64 | validated | 24.225 | 24.16 | 25.278 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio | 1024 | float64 | validated | 67.634 | 54.792 | 67.858 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio_plain | 16 | float64 | validated | 6.897 | 6.885 | 7.022 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio_plain | 32 | float64 | validated | 11.993 | 11.955 | 12.278 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio_plain | 64 | float64 | validated | 13.695 | 13.498 | 14.94 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio_plain | 128 | float64 | validated | 17.108 | 16.974 | 17.239 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio_plain | 256 | float64 | validated | 24.64 | 24.371 | 25.489 | — | — | — | — | — |
| iiwa14 | end_effector_pose | pinocchio_plain | 1024 | float64 | validated | 67.921 | 55.547 | 69.123 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose_gradient | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose_gradient | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose_gradient | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose_gradient | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose_gradient | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | end_effector_pose_gradient | frax | 16 | float32 | validated | 197.937 | 196.167 | 212.085 | 71.383 | 63.75 | 71.993 | — | — |
| iiwa14 | end_effector_pose_gradient | frax | 32 | float32 | validated | 206.547 | 188.985 | 289.926 | 65.549 | 63.995 | 73.146 | — | — |
| iiwa14 | end_effector_pose_gradient | frax | 64 | float32 | validated | 357.421 | 210.79 | 446.13 | 65.797 | 65.12 | 71.459 | — | — |
| iiwa14 | end_effector_pose_gradient | frax | 128 | float32 | validated | 241.461 | 217.734 | 262.272 | 66.271 | 64.762 | 66.361 | — | — |
| iiwa14 | end_effector_pose_gradient | frax | 256 | float32 | validated | 212.576 | 208.747 | 278.781 | 77.621 | 68.342 | 292.617 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| iiwa14 | end_effector_pose_gradient | frax | 1024 | float32 | validated | 352.846 | 310.811 | 403.561 | 108.705 | 108.478 | 115.413 | — | — |
| iiwa14 | end_effector_pose_gradient | grid_cuda | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_gradient | grid_cuda | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_gradient | grid_cuda | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_gradient | grid_cuda | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_gradient | grid_cuda | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_gradient | grid_cuda | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_gradient | grid_jax | 16 | float32 | validated | 125.932 | 116.994 | 246.159 | 42.795 | 26.628 | 86.319 | — | — |
| iiwa14 | end_effector_pose_gradient | grid_jax | 32 | float32 | validated | 136.732 | 118.733 | 139.994 | 24.04 | 23.662 | 29.192 | — | — |
| iiwa14 | end_effector_pose_gradient | grid_jax | 64 | float32 | validated | 121.164 | 117.506 | 137.905 | 27.491 | 24.271 | 41.142 | — | — |
| iiwa14 | end_effector_pose_gradient | grid_jax | 128 | float32 | validated | 126.009 | 118.256 | 136.966 | 27.405 | 24.227 | 41.407 | — | — |
| iiwa14 | end_effector_pose_gradient | grid_jax | 256 | float32 | validated | 124.725 | 122.493 | 127.854 | 24.583 | 24.56 | 25.322 | — | — |
| iiwa14 | end_effector_pose_gradient | grid_jax | 1024 | float32 | validated | 147.917 | 146.422 | 151.903 | 24.756 | 24.682 | 26.41 | — | — |
| iiwa14 | end_effector_pose_gradient | mjx | 16 | float32 | validated | 314.217 | 305.201 | 401.244 | 83.986 | 83.943 | 88.071 | — | — |
| iiwa14 | end_effector_pose_gradient | mjx | 32 | float32 | validated | 258.533 | 240.232 | 490.505 | 84.335 | 83.683 | 88.593 | — | — |
| iiwa14 | end_effector_pose_gradient | mjx | 64 | float32 | validated | 336.656 | 310.181 | 368.824 | 97.6 | 88.771 | 104.184 | — | — |
| iiwa14 | end_effector_pose_gradient | mjx | 128 | float32 | validated | 374.152 | 317.661 | 443.726 | 98.95 | 80.066 | 99.084 | — | — |
| iiwa14 | end_effector_pose_gradient | mjx | 256 | float32 | validated | 293.276 | 291.586 | 482.864 | 105.302 | 89.726 | 200.417 | — | — |
| iiwa14 | end_effector_pose_gradient | mjx | 1024 | float32 | validated | 342.283 | 330.86 | 359.297 | 120.126 | 117.151 | 130.543 | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_cpu | 16 | float64 | validated | 137.99 | 137.441 | 141.481 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_cpu | 32 | float64 | validated | 273.796 | 273.64 | 279.154 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_cpu | 64 | float64 | validated | 546.805 | 546.486 | 556.911 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_cpu | 128 | float64 | validated | 1088.265 | 1078.798 | 1094.505 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_cpu | 256 | float64 | validated | 2204.046 | 2200.956 | 2224.06 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_cpu | 1024 | float64 | validated | 8925.416 | 8846.666 | 8950.045 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_warp | 16 | float32 | validated | 70.527 | 70.277 | 70.698 | 40.632 | 40.626 | 40.706 | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_warp | 32 | float32 | validated | 79.357 | 79.33 | 79.97 | 43.999 | 43.944 | 44.018 | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_warp | 64 | float32 | validated | 81.961 | 81.172 | 82.782 | 47.026 | 46.913 | 47.047 | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_warp | 128 | float32 | validated | 85.359 | 84.44 | 85.62 | 52.117 | 52.038 | 52.118 | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_warp | 256 | float32 | validated | 98.286 | 97.995 | 98.727 | 56.757 | 56.728 | 56.796 | — | — |
| iiwa14 | end_effector_pose_gradient | mujoco_warp | 1024 | float32 | validated | 114.156 | 113.179 | 114.466 | 61.908 | 61.863 | 61.912 | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio | 16 | float64 | validated | 10.038 | 9.849 | 10.148 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio | 32 | float64 | validated | 13.108 | 12.98 | 13.6 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio | 64 | float64 | validated | 15.177 | 15.041 | 15.322 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio | 128 | float64 | validated | 20.414 | 20.114 | 20.541 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio | 256 | float64 | validated | 30.795 | 30.639 | 31.152 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio | 1024 | float64 | validated | 78.547 | 77.512 | 90.779 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio_plain | 16 | float64 | validated | 9.881 | 9.74 | 9.909 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio_plain | 32 | float64 | validated | 13.538 | 13.214 | 14.601 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio_plain | 64 | float64 | validated | 15.369 | 15.266 | 15.392 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio_plain | 128 | float64 | validated | 20.559 | 20.132 | 20.661 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio_plain | 256 | float64 | validated | 31.01 | 30.426 | 31.149 | — | — | — | — | — |
| iiwa14 | end_effector_pose_gradient | pinocchio_plain | 1024 | float64 | validated | 77.313 | 76.667 | 77.995 | — | — | — | — | — |
| iiwa14 | end_effector_pose_hessian | bard | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | bard | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | bard | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | bard | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | bard | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | bard | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | frax | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | frax | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | frax | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | frax | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | frax | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | frax | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | grid_cuda | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_hessian | grid_cuda | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_hessian | grid_cuda | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_hessian | grid_cuda | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_hessian | grid_cuda | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_hessian | grid_cuda | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | CUDA host-call timing bridge covers every operation but the end-effector derivatives |
| iiwa14 | end_effector_pose_hessian | grid_jax | 16 | float32 | validated | 115.598 | 111.387 | 128.438 | 26.154 | 24.652 | 28.616 | — | — |
| iiwa14 | end_effector_pose_hessian | grid_jax | 32 | float32 | validated | 116.96 | 113.238 | 116.972 | 24.95 | 22.492 | 26.533 | — | — |
| iiwa14 | end_effector_pose_hessian | grid_jax | 64 | float32 | validated | 127.987 | 123.421 | 128.794 | 27.606 | 27.498 | 37.702 | — | — |
| iiwa14 | end_effector_pose_hessian | grid_jax | 128 | float32 | validated | 143.265 | 141.427 | 165.309 | 35.369 | 25.019 | 35.746 | — | — |
| iiwa14 | end_effector_pose_hessian | grid_jax | 256 | float32 | validated | 157.093 | 151.022 | 456.665 | 37.014 | 29.404 | 37.053 | — | — |
| iiwa14 | end_effector_pose_hessian | grid_jax | 1024 | float32 | validated | 320.723 | 245.428 | 364.06 | 48.667 | 38.857 | 49.955 | — | — |
| iiwa14 | end_effector_pose_hessian | mjx | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mjx | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mjx | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mjx | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mjx | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mjx | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_cpu | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_cpu | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_cpu | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_cpu | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_cpu | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_cpu | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_warp | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_warp | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_warp | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_warp | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_warp | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | mujoco_warp | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | end_effector_pose_hessian | pinocchio | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio_plain | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio_plain | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio_plain | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio_plain | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio_plain | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | end_effector_pose_hessian | pinocchio_plain | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | Pinocchio spatial kinematic derivatives are not the requested RPY pose-coordinate derivatives |
| iiwa14 | fdsva_so | bard | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | bard | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | bard | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | bard | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | bard | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | bard | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | frax | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | frax | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | frax | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | frax | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | frax | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | frax | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | grid_cuda | 16 | float32 | accuracy_warning | 84.464 | 84.444 | 84.476 | 73.431 | 73.361 | 73.456 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_cuda | 32 | float32 | accuracy_warning | 86.796 | 86.776 | 86.83 | 73.385 | 73.368 | 73.393 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_cuda | 64 | float32 | accuracy_warning | 90.535 | 90.4 | 94.302 | 72.337 | 72.325 | 72.34 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_cuda | 128 | float32 | accuracy_warning | 114.994 | 114.906 | 115.6 | 72.308 | 72.286 | 72.319 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_cuda | 256 | float32 | accuracy_warning | 146.925 | 146.762 | 147.52 | 72.611 | 72.577 | 72.699 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_cuda | 1024 | float32 | accuracy_warning | 476.286 | 475.919 | 478.911 | 209.111 | 209.057 | 209.305 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_jax | 16 | float32 | accuracy_warning | 386.888 | 359.059 | 492.32 | 98.61 | 97.735 | 105.727 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_jax | 32 | float32 | accuracy_warning | 403.488 | 370.014 | 470.752 | 110.722 | 97.347 | 151.821 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_jax | 64 | float32 | accuracy_warning | 487.759 | 459.071 | 496.227 | 100.221 | 97.969 | 120.077 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_jax | 128 | float32 | accuracy_warning | 578.022 | 551.814 | 814.233 | 108.818 | 108.013 | 312.243 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_jax | 256 | float32 | accuracy_warning | 858.403 | 581.058 | 910.491 | 128.75 | 115.594 | 260.214 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | grid_jax | 1024 | float32 | accuracy_warning | 1823.366 | 1763.096 | 1902.611 | 339.156 | 337.637 | 433.077 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | fdsva_so | mjx | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mjx | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mjx | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mjx | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mjx | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mjx | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_cpu | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_cpu | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_cpu | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_cpu | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_cpu | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_cpu | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_warp | 16 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_warp | 32 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_warp | 64 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_warp | 128 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_warp | 256 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | mujoco_warp | 1024 | unknown | excluded_method | — | — | — | — | — | — | — | analytical Hessian study; no finite-difference or nested-autodiff Hessian sweep |
| iiwa14 | fdsva_so | pinocchio | 16 | float64 | validated | 54.374 | 53.549 | 54.55 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio | 32 | float64 | validated | 95.735 | 95.189 | 96.526 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio | 64 | float64 | validated | 353.487 | 343.783 | 410.776 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio | 128 | float64 | validated | 494.061 | 489.341 | 537.926 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio | 256 | float64 | validated | 839.994 | 806.323 | 855.149 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio | 1024 | float64 | validated | 2874.328 | 2816.536 | 2909.155 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio_plain | 16 | float64 | validated | 53.744 | 53.677 | 54.067 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio_plain | 32 | float64 | validated | 95.399 | 95.212 | 95.972 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio_plain | 64 | float64 | validated | 342.952 | 303.36 | 343.484 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio_plain | 128 | float64 | validated | 522.751 | 482.026 | 532.758 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio_plain | 256 | float64 | validated | 830.621 | 829.227 | 839.337 | — | — | — | — | — |
| iiwa14 | fdsva_so | pinocchio_plain | 1024 | float64 | validated | 2885.673 | 2882.052 | 2918.105 | — | — | — | — | — |
| iiwa14 | forward_dynamics | bard | 16 | float32 | validated | 2486.138 | 2470.253 | 2584.183 | 2418.902 | 2411.543 | 2509.548 | — | — |
| iiwa14 | forward_dynamics | bard | 32 | float32 | validated | 2511.623 | 2503.105 | 2591.941 | 2445.914 | 2428.854 | 2532.061 | — | — |
| iiwa14 | forward_dynamics | bard | 64 | float32 | validated | 2510.827 | 2497.71 | 2604.598 | 2449.684 | 2438.973 | 2551.661 | — | — |
| iiwa14 | forward_dynamics | bard | 128 | float32 | validated | 2512.486 | 2493.062 | 2605.868 | 2455.1 | 2431.426 | 2538.647 | — | — |
| iiwa14 | forward_dynamics | bard | 256 | float32 | validated | 2520.308 | 2517.262 | 2611.262 | 2473.63 | 2446.116 | 2546.704 | — | — |
| iiwa14 | forward_dynamics | bard | 1024 | float32 | validated | 2626.856 | 2523.61 | 2631.988 | 2561.919 | 2439.151 | 2613.505 | — | — |
| iiwa14 | forward_dynamics | frax | 16 | float32 | accuracy_warning | 337.742 | 336.14 | 554.333 | 105.766 | 94.378 | 111.999 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | frax | 32 | float32 | accuracy_warning | 252.957 | 246.126 | 329.017 | 108.652 | 103.792 | 112.387 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | frax | 64 | float32 | accuracy_warning | 259.115 | 255.809 | 326.359 | 93.337 | 87.726 | 99.507 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | frax | 128 | float32 | accuracy_warning | 288.478 | 246.913 | 547.73 | 97.157 | 85.948 | 111.795 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | frax | 256 | float32 | accuracy_warning | 352.219 | 247.113 | 551.967 | 103.758 | 88.483 | 207.425 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | frax | 1024 | float32 | accuracy_warning | 300.457 | 265.457 | 520.676 | 114.828 | 114.626 | 269.697 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | grid_cuda | 16 | float32 | validated | 24.763 | 24.763 | 24.87 | 15.709 | 15.708 | 15.744 | — | — |
| iiwa14 | forward_dynamics | grid_cuda | 32 | float32 | validated | 24.957 | 24.957 | 25.004 | 15.754 | 15.702 | 15.757 | — | — |
| iiwa14 | forward_dynamics | grid_cuda | 64 | float32 | validated | 25.096 | 25.074 | 25.119 | 15.633 | 15.605 | 15.657 | — | — |
| iiwa14 | forward_dynamics | grid_cuda | 128 | float32 | validated | 25.494 | 25.481 | 25.613 | 15.718 | 15.687 | 15.769 | — | — |
| iiwa14 | forward_dynamics | grid_cuda | 256 | float32 | validated | 26.422 | 26.415 | 26.644 | 15.982 | 15.977 | 15.982 | — | — |
| iiwa14 | forward_dynamics | grid_cuda | 1024 | float32 | validated | 38.615 | 38.544 | 38.703 | 26.669 | 26.634 | 26.747 | — | — |
| iiwa14 | forward_dynamics | grid_jax | 16 | float32 | validated | 200.81 | 196.136 | 222.06 | 60.011 | 49.609 | 63.277 | — | — |
| iiwa14 | forward_dynamics | grid_jax | 32 | float32 | validated | 231.674 | 192.113 | 377.221 | 47.84 | 47.183 | 48.118 | — | — |
| iiwa14 | forward_dynamics | grid_jax | 64 | float32 | validated | 199.429 | 198.031 | 232.858 | 50.803 | 48.168 | 61.364 | — | — |
| iiwa14 | forward_dynamics | grid_jax | 128 | float32 | validated | 197.077 | 196.212 | 238.22 | 48.399 | 48.139 | 60.78 | — | — |
| iiwa14 | forward_dynamics | grid_jax | 256 | float32 | validated | 204.066 | 199.994 | 374.791 | 60.625 | 48.155 | 62.926 | — | — |
| iiwa14 | forward_dynamics | grid_jax | 1024 | float32 | validated | 220.852 | 220.363 | 323.011 | 60.427 | 59.971 | 61.462 | — | — |
| iiwa14 | forward_dynamics | mjx | 16 | float32 | validated | 446.261 | 358.793 | 543.372 | 129.376 | 121.726 | 158.086 | — | — |
| iiwa14 | forward_dynamics | mjx | 32 | float32 | validated | 448.866 | 424.201 | 491.753 | 177.567 | 120.55 | 213.411 | — | — |
| iiwa14 | forward_dynamics | mjx | 64 | float32 | validated | 454.162 | 411.158 | 723.155 | 157.247 | 127.797 | 298.805 | — | — |
| iiwa14 | forward_dynamics | mjx | 128 | float32 | validated | 475.985 | 425.703 | 552.452 | 143.687 | 130.506 | 156.868 | — | — |
| iiwa14 | forward_dynamics | mjx | 256 | float32 | validated | 485.069 | 398.252 | 713.081 | 147.051 | 133.884 | 147.922 | — | — |
| iiwa14 | forward_dynamics | mjx | 1024 | float32 | accuracy_warning | 511.62 | 452.83 | 657.523 | 299.886 | 276.661 | 370.263 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | mujoco_cpu | 16 | float64 | validated | 36.899 | 36.483 | 36.929 | — | — | — | — | — |
| iiwa14 | forward_dynamics | mujoco_cpu | 32 | float64 | validated | 72.549 | 72.235 | 74.174 | — | — | — | — | — |
| iiwa14 | forward_dynamics | mujoco_cpu | 64 | float64 | validated | 147.638 | 143.189 | 148.789 | — | — | — | — | — |
| iiwa14 | forward_dynamics | mujoco_cpu | 128 | float64 | validated | 294.688 | 291.412 | 303.404 | — | — | — | — | — |
| iiwa14 | forward_dynamics | mujoco_cpu | 256 | float64 | validated | 635.099 | 625.194 | 645.163 | — | — | — | — | — |
| iiwa14 | forward_dynamics | mujoco_cpu | 1024 | float64 | validated | 2637.508 | 2616.821 | 2676.915 | — | — | — | — | — |
| iiwa14 | forward_dynamics | mujoco_warp | 16 | float32 | validated | 196.863 | 196.459 | 197.318 | 168.202 | 167.992 | 168.376 | — | — |
| iiwa14 | forward_dynamics | mujoco_warp | 32 | float32 | validated | 203.88 | 202.926 | 203.933 | 173.278 | 173.128 | 173.407 | — | — |
| iiwa14 | forward_dynamics | mujoco_warp | 64 | float32 | validated | 216.098 | 216.05 | 218.387 | 182.281 | 182.089 | 182.434 | — | — |
| iiwa14 | forward_dynamics | mujoco_warp | 128 | float32 | validated | 230.457 | 229.956 | 230.924 | 199.142 | 198.252 | 199.196 | — | — |
| iiwa14 | forward_dynamics | mujoco_warp | 256 | float32 | accuracy_warning | 250.806 | 250.761 | 251.158 | 216.986 | 216.851 | 217.047 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | mujoco_warp | 1024 | float32 | accuracy_warning | 278.61 | 277.992 | 278.821 | 238.614 | 238.537 | 238.68 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | pinocchio | 16 | float32 | accuracy_warning | 11.127 | 11.112 | 11.207 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | pinocchio | 32 | float32 | accuracy_warning | 13.524 | 13.46 | 13.653 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | pinocchio | 64 | float32 | accuracy_warning | 14.783 | 14.771 | 14.975 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | pinocchio | 128 | float32 | accuracy_warning | 20.229 | 19.495 | 20.613 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | pinocchio | 256 | float32 | accuracy_warning | 28.896 | 28.529 | 29.793 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | pinocchio | 1024 | float32 | accuracy_warning | 82.861 | 82.278 | 82.974 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics | pinocchio_plain | 16 | float32 | validated | 13.731 | 13.114 | 14.002 | — | — | — | — | — |
| iiwa14 | forward_dynamics | pinocchio_plain | 32 | float32 | validated | 17.28 | 16.979 | 19.031 | — | — | — | — | — |
| iiwa14 | forward_dynamics | pinocchio_plain | 64 | float32 | validated | 24.416 | 23.396 | 25.535 | — | — | — | — | — |
| iiwa14 | forward_dynamics | pinocchio_plain | 128 | float32 | validated | 39.1 | 37.505 | 40.388 | — | — | — | — | — |
| iiwa14 | forward_dynamics | pinocchio_plain | 256 | float32 | validated | 63.614 | 63.38 | 68.284 | — | — | — | — | — |
| iiwa14 | forward_dynamics | pinocchio_plain | 1024 | float32 | validated | 401.609 | 372.35 | 442.574 | — | — | — | — | — |
| iiwa14 | forward_dynamics_gradient | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | forward_dynamics_gradient | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | forward_dynamics_gradient | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | forward_dynamics_gradient | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | forward_dynamics_gradient | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | forward_dynamics_gradient | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | forward_dynamics_gradient | frax | 16 | float32 | accuracy_warning | 320.67 | 309.785 | 420.772 | 179.437 | 166.803 | 237.503 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | frax | 32 | float32 | accuracy_warning | 390.393 | 368.981 | 530.519 | 217.442 | 167.871 | 353.036 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | frax | 64 | float32 | accuracy_warning | 444.877 | 364.388 | 497.102 | 265.165 | 218.013 | 380.505 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | frax | 128 | float32 | accuracy_warning | 483.633 | 365.761 | 520.964 | 276.535 | 254.738 | 427.119 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | frax | 256 | float32 | accuracy_warning | 509.867 | 452.152 | 610.177 | 277.931 | 256.821 | 323.871 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | frax | 1024 | float32 | accuracy_warning | 799.519 | 779.754 | 1143.49 | 552.884 | 455.513 | 557.994 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_cuda | 16 | float32 | accuracy_warning | 33.439 | 33.379 | 33.595 | 24.226 | 24.219 | 24.245 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_cuda | 32 | float32 | accuracy_warning | 33.709 | 33.67 | 33.781 | 24.238 | 24.238 | 24.24 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_cuda | 64 | float32 | accuracy_warning | 33.512 | 33.411 | 33.547 | 23.663 | 23.647 | 23.695 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_cuda | 128 | float32 | accuracy_warning | 34.376 | 34.283 | 34.377 | 23.56 | 23.53 | 23.582 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_cuda | 256 | float32 | accuracy_warning | 36.168 | 36.098 | 36.232 | 23.42 | 23.384 | 24.385 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_cuda | 1024 | float32 | accuracy_warning | 81.779 | 81.592 | 82.263 | 58.656 | 58.565 | 58.719 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_jax | 16 | float32 | accuracy_warning | 219.255 | 217.325 | 316.797 | 73.524 | 63.414 | 74.271 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_jax | 32 | float32 | accuracy_warning | 222.284 | 214.293 | 229.611 | 59.836 | 58.436 | 74.768 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_jax | 64 | float32 | accuracy_warning | 217.201 | 204.709 | 217.787 | 59.854 | 59.125 | 61.577 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_jax | 128 | float32 | accuracy_warning | 219.648 | 207.988 | 220.004 | 68.919 | 60.04 | 69.898 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_jax | 256 | float32 | accuracy_warning | 234.232 | 223.992 | 257.893 | 58.884 | 57.739 | 150.283 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | grid_jax | 1024 | float32 | accuracy_warning | 385.031 | 353.877 | 489.947 | 105.734 | 95.989 | 106.365 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | mjx | 16 | float32 | accuracy_warning | 647.19 | 621.587 | 712.529 | 423.408 | 333.984 | 438.037 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | mjx | 32 | float32 | accuracy_warning | 825.749 | 666.193 | 844.782 | 392.182 | 364.396 | 506.035 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | mjx | 64 | float32 | accuracy_warning | 679.149 | 668.591 | 881.544 | 411.4 | 363.242 | 604.432 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | mjx | 128 | float32 | accuracy_warning | 807.778 | 787.29 | 856.627 | 417.305 | 369.599 | 446.134 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | mjx | 256 | float32 | accuracy_warning | 781.177 | 746.254 | 1117.658 | 477.161 | 427.221 | 693.017 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | mjx | 1024 | float32 | accuracy_warning | 1035.454 | 1026.55 | 1077.572 | 662.742 | 538.183 | 740.491 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | mujoco_cpu | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_cpu | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_cpu | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_cpu | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_cpu | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_cpu | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no matched full tangent-space derivative adapter |
| iiwa14 | forward_dynamics_gradient | pinocchio | 16 | float32 | accuracy_warning | 15.609 | 15.605 | 29.99 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio | 32 | float32 | accuracy_warning | 21.562 | 20.54 | 21.562 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio | 64 | float32 | accuracy_warning | 31.038 | 30.763 | 31.835 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio | 128 | float32 | accuracy_warning | 50.739 | 43.444 | 51.643 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio | 256 | float32 | accuracy_warning | 90.814 | 77.981 | 91.051 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio | 1024 | float32 | accuracy_warning | 469.573 | 284.281 | 500.422 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio_plain | 16 | float32 | accuracy_warning | 17.188 | 17.11 | 17.209 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio_plain | 32 | float32 | accuracy_warning | 23.136 | 23.027 | 23.253 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio_plain | 64 | float32 | accuracy_warning | 35.218 | 34.834 | 35.83 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio_plain | 128 | float32 | accuracy_warning | 59.402 | 58.871 | 64.492 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio_plain | 256 | float32 | accuracy_warning | 106.259 | 106.117 | 108.082 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | forward_dynamics_gradient | pinocchio_plain | 1024 | float32 | accuracy_warning | 502.237 | 401.106 | 616.762 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | generalized_gravity | bard | 16 | float32 | validated | 1680.73 | 1662.202 | 1684.122 | 1622.579 | 1611.577 | 1629.914 | — | — |
| iiwa14 | generalized_gravity | bard | 32 | float32 | validated | 1697.898 | 1672.36 | 1699.385 | 1638.049 | 1618.388 | 1638.852 | — | — |
| iiwa14 | generalized_gravity | bard | 64 | float32 | validated | 1707.766 | 1698.446 | 1725.567 | 1633.94 | 1629.858 | 1649.118 | — | — |
| iiwa14 | generalized_gravity | bard | 128 | float32 | validated | 1701.988 | 1693.105 | 1703.085 | 1629.212 | 1628.054 | 1639.091 | — | — |
| iiwa14 | generalized_gravity | bard | 256 | float32 | validated | 1708.252 | 1706.481 | 1717.886 | 1647.532 | 1642.385 | 1658.398 | — | — |
| iiwa14 | generalized_gravity | bard | 1024 | float32 | validated | 1726.233 | 1717.508 | 1751.801 | 1675.544 | 1638.384 | 1689.649 | — | — |
| iiwa14 | generalized_gravity | frax | 16 | float32 | validated | 218.001 | 208.809 | 240.839 | 68.674 | 68.262 | 69.263 | — | — |
| iiwa14 | generalized_gravity | frax | 32 | float32 | validated | 233.988 | 202.405 | 316.781 | 76.552 | 74.504 | 268.641 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| iiwa14 | generalized_gravity | frax | 64 | float32 | validated | 208.853 | 199.789 | 250.721 | 62.207 | 61.191 | 67.188 | — | — |
| iiwa14 | generalized_gravity | frax | 128 | float32 | validated | 205.429 | 200.268 | 216.148 | 61.005 | 60.65 | 287.079 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| iiwa14 | generalized_gravity | frax | 256 | float32 | validated | 315.567 | 234.275 | 347.839 | 77.723 | 68.592 | 78.92 | — | — |
| iiwa14 | generalized_gravity | frax | 1024 | float32 | validated | 308.996 | 276.688 | 353.557 | 84.157 | 74.211 | 265.917 | — | — |
| iiwa14 | generalized_gravity | grid_cuda | 16 | float32 | validated | 17.07 | 17.027 | 17.087 | 11.315 | 11.288 | 11.331 | — | — |
| iiwa14 | generalized_gravity | grid_cuda | 32 | float32 | validated | 17.149 | 17.09 | 17.186 | 11.301 | 11.287 | 11.336 | — | — |
| iiwa14 | generalized_gravity | grid_cuda | 64 | float32 | validated | 17.043 | 17.012 | 17.07 | 11.243 | 11.235 | 11.273 | — | — |
| iiwa14 | generalized_gravity | grid_cuda | 128 | float32 | validated | 17.628 | 17.512 | 17.698 | 11.393 | 11.346 | 11.401 | — | — |
| iiwa14 | generalized_gravity | grid_cuda | 256 | float32 | validated | 18.493 | 18.314 | 18.605 | 11.528 | 11.51 | 11.56 | — | — |
| iiwa14 | generalized_gravity | grid_cuda | 1024 | float32 | validated | 21.335 | 20.007 | 21.396 | 12.516 | 12.486 | 12.519 | — | — |
| iiwa14 | generalized_gravity | grid_jax | 16 | float32 | validated | 112.625 | 108.511 | 131.12 | 38.755 | 36.539 | 44.469 | — | — |
| iiwa14 | generalized_gravity | grid_jax | 32 | float32 | validated | 111.115 | 108.797 | 113.481 | 36.606 | 35.945 | 37.053 | — | — |
| iiwa14 | generalized_gravity | grid_jax | 64 | float32 | validated | 114.92 | 112.346 | 115.246 | 38.571 | 37.738 | 45.108 | — | — |
| iiwa14 | generalized_gravity | grid_jax | 128 | float32 | validated | 115.567 | 114.287 | 156.773 | 38.28 | 36.35 | 45.407 | — | — |
| iiwa14 | generalized_gravity | grid_jax | 256 | float32 | validated | 130.564 | 116.521 | 136.792 | 37.735 | 36.75 | 53.511 | — | — |
| iiwa14 | generalized_gravity | grid_jax | 1024 | float32 | validated | 120.232 | 118.101 | 124.258 | 38.299 | 37.67 | 38.417 | — | — |
| iiwa14 | generalized_gravity | mjx | 16 | float32 | validated | 436.972 | 234.496 | 511.711 | 139.703 | 120.818 | 144.025 | — | — |
| iiwa14 | generalized_gravity | mjx | 32 | float32 | validated | 457.851 | 240.993 | 466.715 | 103.986 | 102.769 | 132.942 | — | — |
| iiwa14 | generalized_gravity | mjx | 64 | float32 | validated | 384.186 | 352.102 | 571.968 | 116.937 | 104.582 | 161.358 | — | — |
| iiwa14 | generalized_gravity | mjx | 128 | float32 | validated | 398.572 | 394.444 | 482.116 | 110.239 | 108.508 | 110.27 | — | — |
| iiwa14 | generalized_gravity | mjx | 256 | float32 | validated | 331.334 | 280.833 | 525.851 | 125.104 | 107.113 | 137.631 | — | — |
| iiwa14 | generalized_gravity | mjx | 1024 | float32 | validated | 360.8 | 360.158 | 481.09 | 129.946 | 127.441 | 143.024 | — | — |
| iiwa14 | generalized_gravity | mujoco_cpu | 16 | float64 | validated | 37.288 | 36.912 | 37.347 | — | — | — | — | — |
| iiwa14 | generalized_gravity | mujoco_cpu | 32 | float64 | validated | 72.798 | 72.365 | 76.919 | — | — | — | — | — |
| iiwa14 | generalized_gravity | mujoco_cpu | 64 | float64 | validated | 144.402 | 142.687 | 149.117 | — | — | — | — | — |
| iiwa14 | generalized_gravity | mujoco_cpu | 128 | float64 | validated | 304.368 | 292.622 | 306.215 | — | — | — | — | — |
| iiwa14 | generalized_gravity | mujoco_cpu | 256 | float64 | validated | 644.364 | 633.715 | 646.856 | — | — | — | — | — |
| iiwa14 | generalized_gravity | mujoco_cpu | 1024 | float64 | validated | 2663.551 | 2622.615 | 2680.639 | — | — | — | — | — |
| iiwa14 | generalized_gravity | mujoco_warp | 16 | float32 | validated | 151.8 | 151.589 | 152.441 | 123.535 | 123.259 | 123.561 | — | — |
| iiwa14 | generalized_gravity | mujoco_warp | 32 | float32 | validated | 159.961 | 159.537 | 160.32 | 130.807 | 130.771 | 130.865 | — | — |
| iiwa14 | generalized_gravity | mujoco_warp | 64 | float32 | validated | 174.993 | 174.657 | 175.393 | 139.171 | 139.158 | 139.863 | — | — |
| iiwa14 | generalized_gravity | mujoco_warp | 128 | float32 | validated | 187.621 | 186.777 | 187.622 | 156.335 | 156.189 | 156.432 | — | — |
| iiwa14 | generalized_gravity | mujoco_warp | 256 | float32 | validated | 213.402 | 213.118 | 213.888 | 181.287 | 181.078 | 181.311 | — | — |
| iiwa14 | generalized_gravity | mujoco_warp | 1024 | float32 | validated | 246.829 | 246.51 | 247.457 | 208.093 | 208.072 | 208.322 | — | — |
| iiwa14 | generalized_gravity | pinocchio | 16 | float32 | validated | 4.736 | 4.676 | 5.506 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio | 32 | float32 | validated | 7.232 | 7.142 | 7.447 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio | 64 | float32 | validated | 11.918 | 11.696 | 12.277 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio | 128 | float32 | validated | 13.042 | 12.96 | 13.06 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio | 256 | float32 | validated | 16.149 | 15.521 | 16.687 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio | 1024 | float32 | validated | 33.61 | 33.541 | 33.686 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio_plain | 16 | float32 | validated | 6.873 | 6.853 | 7.876 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio_plain | 32 | float32 | validated | 12.029 | 11.474 | 12.068 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio_plain | 64 | float32 | validated | 13.694 | 12.946 | 13.758 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio_plain | 128 | float32 | validated | 17.373 | 15.458 | 17.856 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio_plain | 256 | float32 | validated | 22.649 | 20.794 | 26.17 | — | — | — | — | — |
| iiwa14 | generalized_gravity | pinocchio_plain | 1024 | float32 | validated | 61.33 | 49.637 | 65.39 | — | — | — | — | — |
| iiwa14 | minv | bard | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | minv | bard | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | minv | bard | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | minv | bard | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | minv | bard | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | minv | bard | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired; not a library capability claim |
| iiwa14 | minv | frax | 16 | float32 | accuracy_warning | 244.067 | 228.227 | 262.943 | 77.935 | 74.969 | 246.405 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | frax | 32 | float32 | accuracy_warning | 377.191 | 222.553 | 419.911 | 102.045 | 75.145 | 336.916 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | frax | 64 | float32 | accuracy_warning | 262.042 | 255.361 | 335.674 | 86.031 | 78.789 | 171.205 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | frax | 128 | float32 | accuracy_warning | 256.577 | 240.242 | 285.741 | 258.676 | 84.356 | 348.114 | negative total-minus-resident in at least one repeat; decomposition unavailable | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | frax | 256 | float32 | accuracy_warning | 327.616 | 268.941 | 411.23 | 85.127 | 77.858 | 95.592 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | frax | 1024 | float32 | accuracy_warning | 351.202 | 274.762 | 409.918 | 92.811 | 88.226 | 95.388 | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | grid_cuda | 16 | float32 | validated | 21.458 | 21.445 | 21.487 | 12.363 | 12.34 | 12.376 | — | — |
| iiwa14 | minv | grid_cuda | 32 | float32 | validated | 21.693 | 21.602 | 21.87 | 12.341 | 12.308 | 12.359 | — | — |
| iiwa14 | minv | grid_cuda | 64 | float32 | validated | 21.949 | 21.94 | 22.032 | 12.352 | 12.346 | 12.369 | — | — |
| iiwa14 | minv | grid_cuda | 128 | float32 | validated | 22.605 | 22.533 | 22.649 | 12.492 | 12.451 | 12.522 | — | — |
| iiwa14 | minv | grid_cuda | 256 | float32 | validated | 24.085 | 24.043 | 24.133 | 12.635 | 12.619 | 12.672 | — | — |
| iiwa14 | minv | grid_cuda | 1024 | float32 | validated | 35.997 | 35.916 | 36.102 | 19.722 | 19.563 | 19.736 | — | — |
| iiwa14 | minv | grid_jax | 16 | float32 | validated | 118.732 | 117.84 | 120.853 | 39.348 | 37.678 | 39.732 | — | — |
| iiwa14 | minv | grid_jax | 32 | float32 | validated | 123.64 | 118.903 | 128.622 | 40.111 | 39.537 | 43.509 | — | — |
| iiwa14 | minv | grid_jax | 64 | float32 | validated | 126.783 | 118.68 | 128.341 | 42.033 | 39.848 | 44.197 | — | — |
| iiwa14 | minv | grid_jax | 128 | float32 | validated | 123.921 | 123.354 | 133.525 | 39.562 | 39.435 | 39.67 | — | — |
| iiwa14 | minv | grid_jax | 256 | float32 | validated | 127.555 | 126.755 | 128.637 | 39.278 | 38.516 | 39.447 | — | — |
| iiwa14 | minv | grid_jax | 1024 | float32 | validated | 156.496 | 156.155 | 157.436 | 46.233 | 46.176 | 46.902 | — | — |
| iiwa14 | minv | mjx | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| iiwa14 | minv | mjx | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| iiwa14 | minv | mjx | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| iiwa14 | minv | mjx | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| iiwa14 | minv | mjx | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| iiwa14 | minv | mjx | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | selected operation not wired |
| iiwa14 | minv | mujoco_cpu | 16 | float64 | validated | 87.334 | 86.437 | 87.459 | — | — | — | — | — |
| iiwa14 | minv | mujoco_cpu | 32 | float64 | validated | 170.688 | 170.561 | 170.78 | — | — | — | — | — |
| iiwa14 | minv | mujoco_cpu | 64 | float64 | validated | 336.581 | 335.878 | 357.481 | — | — | — | — | — |
| iiwa14 | minv | mujoco_cpu | 128 | float64 | validated | 685.856 | 685.457 | 723.879 | — | — | — | — | — |
| iiwa14 | minv | mujoco_cpu | 256 | float64 | validated | 1423.766 | 1405.65 | 1467.521 | — | — | — | — | — |
| iiwa14 | minv | mujoco_cpu | 1024 | float64 | validated | 5692.931 | 5660.408 | 5889.446 | — | — | — | — | — |
| iiwa14 | minv | mujoco_warp | 16 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| iiwa14 | minv | mujoco_warp | 32 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| iiwa14 | minv | mujoco_warp | 64 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| iiwa14 | minv | mujoco_warp | 128 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| iiwa14 | minv | mujoco_warp | 256 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| iiwa14 | minv | mujoco_warp | 1024 | unknown | adapter_pending | — | — | — | — | — | — | — | no dense inverse-inertia output path |
| iiwa14 | minv | pinocchio | 16 | float32 | accuracy_warning | 8.27 | 8.253 | 8.355 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio | 32 | float32 | accuracy_warning | 12.689 | 12.423 | 12.713 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio | 64 | float32 | accuracy_warning | 13.469 | 13.06 | 13.47 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio | 128 | float32 | accuracy_warning | 16.044 | 15.961 | 16.115 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio | 256 | float32 | accuracy_warning | 22.249 | 22.203 | 22.315 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio | 1024 | float32 | accuracy_warning | 51.219 | 50.814 | 56.949 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio_plain | 16 | float32 | accuracy_warning | 12.672 | 12.496 | 12.676 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio_plain | 32 | float32 | accuracy_warning | 14.468 | 14.427 | 14.746 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio_plain | 64 | float32 | accuracy_warning | 18.584 | 18.22 | 19.104 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio_plain | 128 | float32 | accuracy_warning | 27.449 | 26.857 | 28.561 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio_plain | 256 | float32 | accuracy_warning | 44.128 | 42.856 | 44.272 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | minv | pinocchio_plain | 1024 | float32 | accuracy_warning | 145.075 | 125.42 | 313.388 | — | — | — | — | Entrywise oracle/variation gate exceeded; explicitly retained with errors reported |
| iiwa14 | nonlinear_effects | bard | 16 | float32 | validated | 1676.583 | 1646.083 | 1687.734 | 1627.603 | 1593.518 | 1636.059 | — | — |
| iiwa14 | nonlinear_effects | bard | 32 | float32 | validated | 1672.786 | 1667.194 | 1703.699 | 1625.332 | 1605.49 | 1653.697 | — | — |
| iiwa14 | nonlinear_effects | bard | 64 | float32 | validated | 1695.13 | 1674.963 | 1721.449 | 1623.244 | 1606.935 | 1672.964 | — | — |
| iiwa14 | nonlinear_effects | bard | 128 | float32 | validated | 1688.965 | 1674.445 | 1734.58 | 1616.214 | 1601.416 | 1664.305 | — | — |
| iiwa14 | nonlinear_effects | bard | 256 | float32 | validated | 1697.5 | 1679.267 | 1764.924 | 1639.545 | 1629.367 | 1686.678 | — | — |
| iiwa14 | nonlinear_effects | bard | 1024 | float32 | validated | 1707.166 | 1707.108 | 1809.722 | 1685.921 | 1625.79 | 1738.936 | — | — |
| iiwa14 | nonlinear_effects | frax | 16 | float32 | validated | 383.96 | 200.321 | 495.194 | 69.503 | 68.211 | 78.574 | — | — |
| iiwa14 | nonlinear_effects | frax | 32 | float32 | validated | 243.785 | 201.193 | 664.526 | 105.535 | 78.604 | 248.626 | negative total-minus-resident in at least one repeat; decomposition unavailable | — |
| iiwa14 | nonlinear_effects | frax | 64 | float32 | validated | 234.741 | 200.692 | 304.793 | 71.591 | 62.903 | 72.173 | — | — |
| iiwa14 | nonlinear_effects | frax | 128 | float32 | validated | 285.771 | 230.384 | 457.562 | 60.684 | 60.176 | 84.797 | — | — |
| iiwa14 | nonlinear_effects | frax | 256 | float32 | validated | 252.808 | 206.894 | 265.094 | 76.792 | 69.072 | 76.919 | — | — |
| iiwa14 | nonlinear_effects | frax | 1024 | float32 | validated | 286.556 | 217.981 | 413.134 | 82.523 | 80.629 | 177.565 | — | — |
| iiwa14 | nonlinear_effects | grid_cuda | 16 | float32 | validated | 16.892 | 16.786 | 16.971 | 11.191 | 11.172 | 11.199 | — | — |
| iiwa14 | nonlinear_effects | grid_cuda | 32 | float32 | validated | 17.037 | 16.972 | 17.06 | 11.173 | 11.147 | 11.213 | — | — |
| iiwa14 | nonlinear_effects | grid_cuda | 64 | float32 | validated | 16.924 | 16.917 | 16.94 | 11.151 | 11.133 | 11.159 | — | — |
| iiwa14 | nonlinear_effects | grid_cuda | 128 | float32 | validated | 17.531 | 17.515 | 17.533 | 11.342 | 11.337 | 11.345 | — | — |
| iiwa14 | nonlinear_effects | grid_cuda | 256 | float32 | validated | 18.62 | 18.409 | 18.671 | 11.57 | 11.561 | 11.572 | — | — |
| iiwa14 | nonlinear_effects | grid_cuda | 1024 | float32 | validated | 21.39 | 21.262 | 21.418 | 12.522 | 12.506 | 12.525 | — | — |
| iiwa14 | nonlinear_effects | grid_jax | 16 | float32 | validated | 146.612 | 145.142 | 148.8 | 37.971 | 37.34 | 49.56 | — | — |
| iiwa14 | nonlinear_effects | grid_jax | 32 | float32 | validated | 149.356 | 141.292 | 159.428 | 36.898 | 36.864 | 38.833 | — | — |
| iiwa14 | nonlinear_effects | grid_jax | 64 | float32 | validated | 150.909 | 150.071 | 152.612 | 38.98 | 37.73 | 41.115 | — | — |
| iiwa14 | nonlinear_effects | grid_jax | 128 | float32 | validated | 151.61 | 151.43 | 151.733 | 39.625 | 38.604 | 46.136 | — | — |
| iiwa14 | nonlinear_effects | grid_jax | 256 | float32 | validated | 159.093 | 157.654 | 172.159 | 38.7 | 37.604 | 40.943 | — | — |
| iiwa14 | nonlinear_effects | grid_jax | 1024 | float32 | validated | 162.01 | 156.34 | 169.205 | 49.557 | 40.72 | 49.602 | — | — |
| iiwa14 | nonlinear_effects | mjx | 16 | float32 | validated | 339.544 | 301.028 | 444.536 | 104.63 | 100.649 | 110.241 | — | — |
| iiwa14 | nonlinear_effects | mjx | 32 | float32 | validated | 327.9 | 323.089 | 449.504 | 113.375 | 102.861 | 114.866 | — | — |
| iiwa14 | nonlinear_effects | mjx | 64 | float32 | validated | 404.652 | 347.284 | 493.701 | 123.464 | 116.758 | 242.7 | — | — |
| iiwa14 | nonlinear_effects | mjx | 128 | float32 | validated | 425.799 | 383.417 | 497.295 | 109.875 | 107.916 | 199.392 | — | — |
| iiwa14 | nonlinear_effects | mjx | 256 | float32 | validated | 456.794 | 357.413 | 728.923 | 134.494 | 115.012 | 143.945 | — | — |
| iiwa14 | nonlinear_effects | mjx | 1024 | float32 | validated | 528.143 | 356.081 | 610.858 | 289.15 | 132.257 | 399.426 | — | — |
| iiwa14 | nonlinear_effects | mujoco_cpu | 16 | float64 | validated | 36.984 | 36.578 | 38.271 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | mujoco_cpu | 32 | float64 | validated | 74.95 | 72.281 | 76.19 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | mujoco_cpu | 64 | float64 | validated | 147.146 | 145.06 | 148.793 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | mujoco_cpu | 128 | float64 | validated | 299.907 | 295.426 | 307.271 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | mujoco_cpu | 256 | float64 | validated | 638.892 | 627.496 | 650.099 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | mujoco_cpu | 1024 | float64 | validated | 2653.391 | 2613.084 | 2690.72 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | mujoco_warp | 16 | float32 | validated | 152.147 | 151.522 | 153.192 | 123.601 | 123.502 | 123.607 | — | — |
| iiwa14 | nonlinear_effects | mujoco_warp | 32 | float32 | validated | 160.183 | 159.348 | 160.558 | 130.433 | 130.419 | 130.899 | — | — |
| iiwa14 | nonlinear_effects | mujoco_warp | 64 | float32 | validated | 174.838 | 173.86 | 174.889 | 139.88 | 139.719 | 139.914 | — | — |
| iiwa14 | nonlinear_effects | mujoco_warp | 128 | float32 | validated | 187.742 | 186.972 | 188.748 | 156.436 | 156.348 | 156.503 | — | — |
| iiwa14 | nonlinear_effects | mujoco_warp | 256 | float32 | validated | 214.501 | 214.093 | 214.562 | 181.895 | 181.723 | 181.939 | — | — |
| iiwa14 | nonlinear_effects | mujoco_warp | 1024 | float32 | validated | 247.578 | 247.303 | 247.967 | 208.879 | 208.787 | 209.102 | — | — |
| iiwa14 | nonlinear_effects | pinocchio | 16 | float32 | validated | 4.745 | 4.618 | 5.535 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio | 32 | float32 | validated | 7.336 | 7.118 | 8.417 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio | 64 | float32 | validated | 11.722 | 11.559 | 11.953 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio | 128 | float32 | validated | 12.931 | 12.802 | 12.937 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio | 256 | float32 | validated | 15.844 | 15.531 | 16.206 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio | 1024 | float32 | validated | 35.667 | 32.773 | 51.155 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio_plain | 16 | float32 | validated | 8.28 | 8.168 | 8.939 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio_plain | 32 | float32 | validated | 12.367 | 12.148 | 12.548 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio_plain | 64 | float32 | validated | 13.707 | 13.163 | 14.448 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio_plain | 128 | float32 | validated | 17.501 | 17.01 | 18.717 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio_plain | 256 | float32 | validated | 25.001 | 24.58 | 26.192 | — | — | — | — | — |
| iiwa14 | nonlinear_effects | pinocchio_plain | 1024 | float32 | validated | 64.612 | 62.849 | 77.947 | — | — | — | — | — |