File size: 7,446 Bytes
6bf385a | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 | {
"gpu": "NVIDIA GeForce RTX 4080 SUPER",
"protocol": "resources_test.py: policy(obs, goal, None) with cuda.synchronize per iter; dummy 224 RGB; no action chunking",
"warmup": 20,
"iters_dp": 30,
"iters_vq": 100,
"image_size": 224,
"runs": [
{
"name": "pusht_dp_dino256",
"paper": "Ours - DP (DINOv2)",
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/12-27-54/model_final.pt",
"head": "dp",
"eval_window_size": 2,
"encoder_n_patches": 256,
"obs_tokens": 256,
"obs_dim": 384,
"encoder_total": 22056576,
"encoder_trainable": 0,
"policy_total": 18372624,
"policy_trainable": 9186306,
"combined_total": 40429200,
"combined_trainable": 9186306,
"warmup": 20,
"iters": 30,
"policy_latency_ms": 562.1014715327572,
"policy_hz": 1.7790382175537924,
"full_latency_ms": 566.5504092661043,
"full_hz": 1.765068003914031
},
{
"name": "pusht_dp_dino64",
"paper": null,
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/20-12-04/model_final.pt",
"head": "dp",
"eval_window_size": 2,
"encoder_n_patches": 256,
"obs_tokens": 256,
"obs_dim": 384,
"encoder_total": 22056576,
"encoder_trainable": 0,
"policy_total": 18766224,
"policy_trainable": 9678210,
"combined_total": 40822800,
"combined_trainable": 9678210,
"warmup": 20,
"iters": 30,
"policy_latency_ms": 576.381377565364,
"policy_hz": 1.7349623685345315,
"full_latency_ms": 582.2941316446911,
"full_hz": 1.7173451450996042
},
{
"name": "pusht_dp_dino16",
"paper": null,
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/08-18-08/model_final.pt",
"head": "dp",
"eval_window_size": 2,
"encoder_n_patches": 256,
"obs_tokens": 256,
"obs_dim": 384,
"encoder_total": 22056576,
"encoder_trainable": 0,
"policy_total": 20486544,
"policy_trainable": 11423106,
"combined_total": 42543120,
"combined_trainable": 11423106,
"warmup": 20,
"iters": 30,
"policy_latency_ms": 571.1666608694941,
"policy_hz": 1.7508024688935584,
"full_latency_ms": 579.8384148317078,
"full_hz": 1.7246184013010586
},
{
"name": "pusht_dp_dino4",
"paper": null,
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/22-42-29/model_final.pt",
"head": "dp",
"eval_window_size": 2,
"encoder_n_patches": 256,
"obs_tokens": 256,
"obs_dim": 384,
"encoder_total": 22056576,
"encoder_trainable": 0,
"policy_total": 27552144,
"policy_trainable": 18494850,
"combined_total": 49608720,
"combined_trainable": 18494850,
"warmup": 20,
"iters": 30,
"policy_latency_ms": 561.2799002012858,
"policy_hz": 1.7816422780174037,
"full_latency_ms": 568.6490866045157,
"full_hz": 1.7585537786952965
},
{
"name": "pusht_dp_webssl256",
"paper": "Ours - DP (WebSSL)",
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-13/15-24-12/model_final.pt",
"head": "dp",
"eval_window_size": 2,
"encoder_n_patches": 256,
"obs_tokens": 256,
"obs_dim": 1024,
"encoder_total": 303655168,
"encoder_trainable": 0,
"policy_total": 18700304,
"policy_trainable": 9350146,
"combined_total": 322355472,
"combined_trainable": 9350146,
"warmup": 20,
"iters": 30,
"policy_latency_ms": 578.2873124970744,
"policy_hz": 1.7292442327360573,
"full_latency_ms": 583.5190834632764,
"full_hz": 1.7137400101207396
},
{
"name": "pusht_dp_siglip2_patch",
"paper": null,
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-14/01-04-42/model_final.pt",
"head": "dp",
"eval_window_size": 2,
"encoder_n_patches": 196,
"obs_tokens": 196,
"obs_dim": 768,
"encoder_total": 375187970,
"encoder_trainable": 0,
"policy_total": 18507792,
"policy_trainable": 9253890,
"combined_total": 393695762,
"combined_trainable": 9253890,
"warmup": 20,
"iters": 30,
"policy_latency_ms": 553.1952799297869,
"policy_hz": 1.8076799211427161,
"full_latency_ms": 582.4470175119737,
"full_hz": 1.7168943610900065
},
{
"name": "pusht_dp_vjepa2_patch",
"paper": null,
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/pusht/2026-08-14/04-42-19/model_final.pt",
"head": "dp",
"eval_window_size": 2,
"encoder_n_patches": 256,
"obs_tokens": 256,
"obs_dim": 1024,
"encoder_total": 325971328,
"encoder_trainable": 0,
"policy_total": 18700304,
"policy_trainable": 9350146,
"combined_total": 344671632,
"combined_trainable": 9350146,
"warmup": 20,
"iters": 30,
"policy_latency_ms": 563.668977903823,
"policy_hz": 1.774090892351054,
"full_latency_ms": 610.1366464669505,
"full_hz": 1.6389771140458242
},
{
"name": "cube_vqbet_webssl_cls",
"paper": null,
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/cube/2026-08-14/09-35-53/model_final.pt",
"head": "vqbet",
"eval_window_size": 2,
"encoder_n_patches": 1,
"obs_tokens": 1,
"obs_dim": 1024,
"encoder_total": 303655168,
"encoder_trainable": 0,
"policy_total": 29529177,
"policy_trainable": 29529177,
"combined_total": 333184345,
"combined_trainable": 29529177,
"warmup": 20,
"iters": 100,
"policy_latency_ms": 4.908055798150599,
"policy_hz": 203.74666489668053,
"full_latency_ms": 17.248990461230278,
"full_hz": 57.97440738619757
},
{
"name": "cube_vqbet_webssl_avgpool",
"paper": null,
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/cube/2026-08-15/05-48-51/model_final.pt",
"head": "vqbet",
"eval_window_size": 2,
"encoder_n_patches": 1,
"obs_tokens": 1,
"obs_dim": 1024,
"encoder_total": 303655168,
"encoder_trainable": 0,
"policy_total": 29529177,
"policy_trainable": 29529177,
"combined_total": 333184345,
"combined_trainable": 29529177,
"warmup": 20,
"iters": 100,
"policy_latency_ms": 4.924916592426598,
"policy_hz": 203.0491240273536,
"full_latency_ms": 17.22435207106173,
"full_hz": 58.057336257082135
},
{
"name": "cube_vqbet_webssl_patch",
"paper": "Ours - VQ-BeT (WebSSL)",
"ckpt": "/root/PatchPolicy/repro/results/official/outputs/cube/2026-08-15/10-29-41/model_final.pt",
"head": "vqbet",
"eval_window_size": 2,
"encoder_n_patches": 256,
"obs_tokens": 256,
"obs_dim": 1024,
"encoder_total": 303655168,
"encoder_trainable": 0,
"policy_total": 30443097,
"policy_trainable": 30443097,
"combined_total": 334098265,
"combined_trainable": 30443097,
"warmup": 20,
"iters": 100,
"policy_latency_ms": 5.157878119498491,
"policy_hz": 193.87817564352056,
"full_latency_ms": 17.427637819200754,
"full_hz": 57.380122904451135
}
]
} |