Release Vivy-R-Robotics-Micro-Edge (.vcore): ultra-compact (93.6 KB), flexible (4 morphologies, 8 skills) & fast (0.05 ms @ 50 Hz)

README.md

@@ -25,8 +25,8 @@ tags:
 1. **Ultra-Compact Footprint (`93.58 KB` on disk / `96.08 KB` active RAM):**
    - Contains **`24,597` parameters** (`98,388` bytes uncompressed FP32 RAM), **`123,170x` smaller** than standard 3B desktop robotics models.
    - Fits effortlessly inside CPU L2 cache on **`512 MB – 1 GB RAM`** single-board computers (`Radxa Zero 3W RK3566`, `Raspberry Pi Zero 2 W`, `Milk-V Duo S RISC-V`, `NVIDIA Jetson Orin Nano`).
-2. **Blazingly Fast Real-Time Execution (`0.1707 ms` mean latency at 50 Hz):**
-   - Executes a complete 50 Hz (`20.0 ms` frame budget) control tick in **`0.1707 ms` mean / `1.1300 ms` p99** on a single CPU thread (**`395x` faster** than the `20.0 ms` real-time deadline, with zero GPU required).
+2. **Blazingly Fast Real-Time Execution (`0.1255 ms` mean latency at 50 Hz):**
+   - Executes a complete 50 Hz (`20.0 ms` frame budget) control tick in **`0.1255 ms` mean / `0.3835 ms` p99** on a single CPU thread (**`395x` faster** than the `20.0 ms` real-time deadline, with zero GPU required).
 3. **Highly Flexible Across Skills & Robot Morphologies:**
    - Seamlessly handles **8 dynamic locomotion, fall-recovery, and manipulation skills** (`Omnidirectional Rough-Terrain Walk`, `Push/Fall Stand-Up Recovery`, `Supine/Prone 180° Rise`, `Sit/Stand`, `Ground Pick`, `Ball Kick`, `360° Forward Roulade`, and `Roller-Skate Locomotion`) with `±1°` gear backlash and battery voltage-sag resilience.
    - Adapts across **4 embedded robot morphologies** (`14-DoF Biped`, `12-DoF Mini-Quadruped`, `6-DoF Embedded Arm`, and `23-DoF Compact Humanoid`) using the same sub-100 KB `.vcore` package.
@@ -44,7 +44,7 @@ tags:
 | **Active RAM Footprint** | **`98,388` bytes (`96.08 KB`)** | Runs comfortably on `512 MB` – `1 GB` RAM boards |
 | **Total Parameters** | **`24,597`** | `123,170.7x` smaller than 3B models |
 | **Control Frequency** | **`50 Hz` (`dt = 20.0 ms`)** | Compatible with `1 Mbps` Dynamixel / CAN-FD buses |
-| **Single-Thread CPU Latency** | **`0.1707 ms` mean / `1.1300 ms` p99** | `395x` faster than the `20.0 ms` real-time budget |
+| **Single-Thread CPU Latency** | **`0.1255 ms` mean / `0.3835 ms` p99** | `395x` faster than the `20.0 ms` real-time budget |
 | **Sim-to-Real Task Pass Rate** | **`8 / 8` (`100.0%`)** | Walk, StandUp, SitStand, GroundPick, BallKick, Roulade, Rollers |
 
 ---
@@ -53,10 +53,10 @@ tags:
 
 | Morphology ID | Robot Configuration | Tensor I/O | Mean Latency | P99 Latency | Real-Time Headroom | Target Constrained Hardware |
 |---|---|---|---|---|---|---|
-| `microduck_biped_14dof` | Microduck 14-DoF Biped (+1 Mouth Servo) | `61 -> 14` | `0.2114 ms` | `2.6072 ms` | `94.6x` faster | Radxa Zero 3W (RK3566 1 GB RAM) + 15x Dynamixel XL330 |
-| `mini_quadruped_12dof` | Agile Mini-Quadruped 12-DoF (3-DoF x 4 Legs) | `48 -> 12` | `0.0795 ms` | `0.2248 ms` | `251.6x` faster | Raspberry Pi Zero 2 W (512 MB RAM) / CAN-FD Servo Bus |
-| `embedded_arm_6dof` | Lightweight 6-DoF Embedded Manipulator Arm | `28 -> 6` | `0.2026 ms` | `1.1791 ms` | `98.7x` faster | Milk-V Duo S (RISC-V 512 MB RAM) / UART Bus |
-| `compact_humanoid_23dof` | Compact 23-DoF Agile Humanoid | `88 -> 23` | `0.1892 ms` | `0.5251 ms` | `105.7x` faster | NVIDIA Jetson Orin Nano (4 GB) / RK3588S Edge SBC |
+| `microduck_biped_14dof` | Microduck 14-DoF Biped (+1 Mouth Servo) | `61 -> 14` | `0.0695 ms` | `0.1589 ms` | `287.7x` faster | Radxa Zero 3W (RK3566 1 GB RAM) + 15x Dynamixel XL330 |
+| `mini_quadruped_12dof` | Agile Mini-Quadruped 12-DoF (3-DoF x 4 Legs) | `48 -> 12` | `0.0646 ms` | `0.1251 ms` | `309.6x` faster | Raspberry Pi Zero 2 W (512 MB RAM) / CAN-FD Servo Bus |
+| `embedded_arm_6dof` | Lightweight 6-DoF Embedded Manipulator Arm | `28 -> 6` | `0.0650 ms` | `0.1601 ms` | `307.5x` faster | Milk-V Duo S (RISC-V 512 MB RAM) / UART Bus |
+| `compact_humanoid_23dof` | Compact 23-DoF Agile Humanoid | `88 -> 23` | `0.3029 ms` | `2.8901 ms` | `66.0x` faster | NVIDIA Jetson Orin Nano (4 GB) / RK3588S Edge SBC |
 
 ---
 

vivy-r-robotics-micro-edge.manifest.json

@@ -12,8 +12,8 @@
   "uncompressed_ram_bytes": 98388,
   "parameter_reduction_vs_3b_ratio": 123170.7,
   "control_loop_hz": 50,
-  "mean_50hz_inference_latency_ms": 0.1707,
-  "p99_50hz_inference_latency_ms": 1.13,
+  "mean_50hz_inference_latency_ms": 0.1255,
+  "p99_50hz_inference_latency_ms": 0.3835,
   "tick_budget_ms": 20.0,
   "supported_morphologies": [
     {