Simeon Nedelchev
Inverse dynamics, contact rollout, and batched training need different capabilities.
Latency and throughput answer different questions.
MuJoCo: dynamics with contact and actuation.
Pinocchio: rigid-body algorithms.
Drake: multibody modeling and planning tools.
One environment in 0.1 ms.
A batch of 1,000 in 2 ms after compilation.
The second result does not establish lower single-environment latency.
Same model, timestep, horizon, and outputs.
Compilation and execution have separate timings.
Feature compatibility and differentiation depend on the backend.
Unsupported features belong in the report.
Check numerical agreement before comparing speed.
Reading: MuJoCo MJX Pinocchio algorithms