Recorded comparison

Cosmos Policy

Cosmos Policy · Jetson Thor · As-released, skip-decode baseline

Measurement details

Model & hardware

Cosmos Policy · Jetson Thor. Model by NVIDIA.

Execution

As-released Cosmos Policy with its official skip-decode flag → ZETIC optimized model and runtime. The baseline plans synchronously; the optimized run plans asynchronously.

Measurement

p50 inference latency per 16-action chunk: 1.83 s → 275 ms. The recording also shows completion across 10 tasks: 176.2 s → 54.8 s. The task completion difference includes the planning-mode change.

Recording

LIBERO-Spatial simulation. Same 10 tasks, initial states, checkpoint, seed and 20 Hz control on both sides.

Playback

1× opening, then 5× and 10× on both sides, as labeled. The optimized side holds its completed frame while the baseline continues.