{
  "benchmark": "quantization",
  "timestamp": "2026-03-19T12:05:01.774531+00:00",
  "device": "NVIDIA L4",
  "model": "forge-nano",
  "params": 967930567,
  "params_m": 967.9,
  "fp32_size_mb": 3871.7,
  "n_calibration_samples": 5,
  "n_quality_samples": 10,
  "calibration_time_s": 1.6,
  "calibrated_modules": 569,
  "quantization_results": {
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      "target_bits": 8,
      "action_head_bits": 8,
      "quantize_time_s": 119.0,
      "fp32_size_mb": 3871.7,
      "estimated_size_mb": 967.9,
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        "action_mse": 2.87556,
        "temporal_coherence_delta": 0.0,
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      "latency_p50_ms": 136.19,
      "latency_p95_ms": 137.93,
      "latency_mean_ms": 135.84,
      "fps": 7.4,
      "gpu_mem_gb": 7.83
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    "int4_ah8": {
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      "action_head_bits": 8,
      "quantize_time_s": 118.2,
      "fp32_size_mb": 3871.7,
      "estimated_size_mb": 484.0,
      "compression_ratio": 8.0,
      "quality": {
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        "temporal_coherence_delta": 0.0,
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      "latency_p95_ms": 136.75,
      "latency_mean_ms": 134.27,
      "fps": 7.4,
      "gpu_mem_gb": 7.83
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    "int4_ah4": {
      "target_bits": 4,
      "action_head_bits": 4,
      "quantize_time_s": 118.8,
      "fp32_size_mb": 3871.7,
      "estimated_size_mb": 484.0,
      "compression_ratio": 8.0,
      "quality": {
        "action_mse": 4.312251,
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      "latency_p95_ms": 138.39,
      "latency_mean_ms": 133.92,
      "fps": 7.5,
      "gpu_mem_gb": 7.83
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    "int3_ah8": {
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      "action_head_bits": 8,
      "quantize_time_s": 118.1,
      "fp32_size_mb": 3871.7,
      "estimated_size_mb": 363.0,
      "compression_ratio": 10.7,
      "quality": {
        "action_mse": 2.91003,
        "temporal_coherence_delta": 0.0,
        "max_step_drift": 8.698943,
        "per_step_error": [
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      },
      "latency_p50_ms": 133.91,
      "latency_p95_ms": 138.35,
      "latency_mean_ms": 134.24,
      "fps": 7.4,
      "gpu_mem_gb": 7.83
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  }
}