Recorded comparison

π0.5

π0.5 · Jetson AGX Thor · PyTorch reference baseline

Measurement details

Model & hardware

π0.5 · Jetson AGX Thor. Model by Physical Intelligence.

Execution

openpi PyTorch reference → ZETIC hardware-aware execution optimization.

Measurement

Policy inference latency (p95): 714 ms → 19.20 ms. These values measure inference, not complete physical task duration.

Recording

LIBERO-Object simulation, 10 tasks. Recorded robot actions are replayed with each side's measured inference delay. Final replay times: 257.4 s → 71.2 s.

Playback

1× until the optimized side completes the first task, then 5× and 10×, as labeled in the recording.