| { |
| "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 |
| } |
| ] |
| } |
