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Abstract In this work, an ultrafast nucleation of an isolated anti-ferromagnetic (AFM) skyrmion was reported in an AFM layer with DMi strengths of 0.47 $$-$$ - 0.32 $$\mathrm{mJ}/{\mathrm{m}}^{2}$$ mJ / m 2 using spin-transfer torque by locally injecting pure spin currents into magnetic tracks. Besides, we revealed the key advantages of AFM skyrmion-based racetrack memories by comparing the motion of AFM and FM skyrmions driven by spin–orbit torques (SOTs) for different skyrmion sizes along racetrack memories with various notch sizes. Our results indicate that for AFM skyrmion, the skyrmion Hall effect does not exist during the skyrmion motion, therefore at small skyrmion sizes, we succeeded to overcome the repulsive forces developed in the notch area for low and large SOTs. The obtained findings were carefully analyzed by computing the variation of energy barriers associated with the notch for different skyrmion sizes using minimum energy path (MEP) calculations. We showed that the larger the skyrmion size, the harder it is to shrink the skyrmion in the notch which produces a high energy barrier (Eb) for large skyrmion sizes. Moreover, as the notch size increases, the skyrmion size shrinks further, and hence Eb increases proportionally. Nevertheless, we proved that AFM skyrmions are more efficient and flexible than FM skyrmions against boundary forces.