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. Task-completion differences also include the change from synchronous to asynchronous planning.

Recording

Simulation of the same 10 tasks with matching model, starting conditions, and 20 Hz control.

Playback

1× opening, then 5× and 10× on both sides, as labeled.