File size: 4,336 Bytes
ff9dc4d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 | {
"device": "cpu",
"hardware": "cpu x4",
"amp": false,
"fps": 30,
"torch": "2.11.0+cu128",
"policies": {
"bsp10": {
"path": "/home/marinelab/code/plan-bind-d2/experiments/261028-plan-bind-d2-latency/outputs/d1/train_bsp10/checkpoints/060000/pretrained_model",
"mode": "diffusion",
"num_inference_steps": 10,
"stages": {
"preprocess": {
"p50_ms": 0.747511483496055,
"p95_ms": 0.878521826234646,
"mean_ms": 0.7660536945331842,
"max_ms": 0.9307599975727499
},
"encode": {
"p50_ms": 57.98301051254384,
"p95_ms": 67.28637084015645,
"mean_ms": 58.51588953984901,
"max_ms": 72.30724999681115
},
"denoise": {
"p50_ms": 528.4479779656976,
"p95_ms": 566.3144233403727,
"mean_ms": 534.3636283453088,
"max_ms": 632.4911020346917
},
"decode": {
"p50_ms": 0.2009240270126611,
"p95_ms": 0.2397896867478266,
"mean_ms": 0.20619980292394757,
"max_ms": 0.2587290364317596
}
},
"call": {
"p50_ms": 590.0149474909995,
"p95_ms": 628.9242488011951,
"mean_ms": 593.851771382615,
"max_ms": 689.7355650435202
},
"latency_frames": 19,
"select_action": {
"p50_ms": 0.5538050027098507,
"p95_ms": 2.2661643568426353,
"mean_ms": 27.081221226994373,
"max_ms": 603.1246309867129
}
},
"onestep": {
"path": "/home/marinelab/code/plan-bind-d2/experiments/261028-plan-bind-d2-latency/outputs/d1/train_onestep/checkpoints/060000/pretrained_model",
"mode": "onestep",
"num_inference_steps": null,
"stages": {
"preprocess": {
"p50_ms": 0.825677503598854,
"p95_ms": 1.3222178764408454,
"mean_ms": 0.9437751420773566,
"max_ms": 1.3396849972195923
},
"encode": {
"p50_ms": 60.20078100846149,
"p95_ms": 61.34493041026872,
"mean_ms": 60.373296961188316,
"max_ms": 64.34610998257995
},
"onestep": {
"p50_ms": 64.50355250854045,
"p95_ms": 67.803600532352,
"mean_ms": 64.87297335872427,
"max_ms": 73.33882601233199
}
},
"call": {
"p50_ms": 125.90946146519855,
"p95_ms": 130.1103751087794,
"mean_ms": 126.19004546198994,
"max_ms": 134.87826997879893
},
"latency_frames": 4,
"select_action": {
"p50_ms": 0.5842534883413464,
"p95_ms": 126.3491125399014,
"mean_ms": 32.02733561100269,
"max_ms": 152.36378397094086
}
},
"planbind": {
"path": "/home/marinelab/code/plan-bind-d2/experiments/261028-plan-bind-d2-latency/outputs/d1/train_planbind/checkpoints/060000/pretrained_model",
"mode": "planbind",
"num_inference_steps": null,
"stages": {
"preprocess": {
"p50_ms": 0.9875365067273378,
"p95_ms": 1.170995293068699,
"mean_ms": 1.0058354039210826,
"max_ms": 1.2721759849227965
},
"encode": {
"p50_ms": 49.95066250558011,
"p95_ms": 51.087522332090884,
"mean_ms": 50.16825501457788,
"max_ms": 55.304175009950995
},
"plan": {
"p50_ms": 49.006771499989554,
"p95_ms": 50.59269524354022,
"mean_ms": 49.223197064129636,
"max_ms": 52.26162599865347
},
"bind": {
"p50_ms": 62.077868467895314,
"p95_ms": 63.26826467993669,
"mean_ms": 62.17404176015407,
"max_ms": 65.17986999824643
}
},
"call": {
"p50_ms": 162.19523648032919,
"p95_ms": 164.72565945296083,
"mean_ms": 162.57132924278267,
"max_ms": 173.83615899598226
},
"latency_frames": 5,
"select_action": {
"p50_ms": 0.6055890116840601,
"p95_ms": 115.85306693741585,
"mean_ms": 30.244623378596522,
"max_ms": 187.05602100817487
},
"bind_only_call": {
"p50_ms": 113.01273797289468,
"p95_ms": 114.89341149281245,
"mean_ms": 113.34813217865303,
"max_ms": 121.57453299732879
}
}
}
} |