rm65-smolvla-code / outputs /profiling /offline_test_interp2.json
FelishLeon's picture
Upload folder using huggingface_hub (part 2)
ef2a612 verified
Raw History Blame Contribute Delete
3.26 kB
{
"raw": {
"n_control_ticks": 60,
"n_policy_actions": 31,
"n_chunks": 2,
"underruns": 0,
"chunk_latency_ms": [
61.03912275284529,
60.717386193573475
],
"control_dt_ms": [
0.0920342281460762,
0.20522205159068108,
0.09094597771763802,
0.4279492422938347,
0.031073112040758133,
0.47211023047566414,
0.07280195131897926,
0.5094548687338829,
0.04758499562740326,
0.4290691576898098,
0.07417798042297363,
0.5014538764953613,
0.07133092731237411,
0.5497760139405727,
0.08134590461850166,
0.5554407835006714,
0.07648207247257233,
0.49905525520443916,
0.04880176857113838,
0.4003639332950115,
0.04806509241461754,
0.5672811530530453,
0.0378582626581192,
0.39281090721488,
0.03545684739947319,
0.37908274680376053,
0.037632882595062256,
0.3981557674705982,
0.043360982090234756,
0.4074997268617153,
0.03152107819914818,
0.2388879656791687,
0.02627214416861534,
0.3453860990703106,
0.026049092411994934,
0.3186645917594433,
0.025377143174409866,
0.315625686198473,
0.025311950594186783,
0.30416855588555336,
0.025824643671512604,
0.3133220598101616,
0.033088959753513336,
0.332521740347147,
0.03324868157505989,
0.38481131196022034,
0.03264099359512329,
0.3458992578089237,
0.06445031613111496,
0.42129307985305786,
0.765558797866106,
0.553264282643795,
0.03872113302350044,
0.4074038006365299,
0.05052890628576279,
0.572464894503355,
0.04771258682012558,
0.4131002351641655,
0.04492979496717453,
0.4360773600637913
],
"queue_depth": [
49,
48,
48,
47,
47,
46,
46,
45,
45,
44,
44,
43,
43,
42,
42,
41,
41,
40,
40,
39,
39,
38,
38,
37,
37,
36,
36,
35,
35,
34,
34,
33,
33,
32,
32,
31,
31,
30,
30,
29,
29,
28,
28,
27,
27,
26,
26,
25,
25,
24,
49,
48,
48,
47,
47,
46,
46,
45,
45,
44
],
"target_fps": 20.0,
"interpolation_multiplier": 2,
"policy_mode": "mock"
},
"summary": {
"n_control_ticks": 60,
"n_policy_actions": 31,
"n_chunks": 2,
"underruns": 0,
"target_fps": 20.0,
"target_action_dt_ms": 50.0,
"interpolation_multiplier": 2,
"control_fps": 40.0,
"policy_mode": "mock",
"chunk_latency_ms": {
"p50": 60.87825447320938,
"p95": 61.0230359248817,
"max": 61.03912275284529
},
"queue_depth": {
"mean": 38.166666666666664,
"min": 24
},
"suggested_rtc": {
"inference_delay_steps": 1,
"execution_horizon_steps": 3,
"note": "Heuristic from chunk p95 / action_dt; validate on real RM65 ckpt"
},
"pass_no_underrun": true,
"pass_chunk_p95_lt_3x_dt": true,
"pass": true
}
}