Recorded comparison

Sonata (PTv3)

Sonata (PTv3) · Jetson AGX Thor · Stock PyTorch baseline

Measurement details

Model & hardware

Sonata (PTv3) · Jetson AGX Thor · Point-cloud segmentation.

Execution

Stock PyTorch FP32 with CPU voxelization → ZETIC hardware-aware execution optimization.

Measurement

End-to-end latency per frame: 715 ms → 31 ms (23.1×). This includes the frame-processing pipeline, not just model inference.

Recording

10 Hz sensor stream. Each side shows its latest completed result; frame counters and lag relative to the sensor are shown in the recording.

Playback

1× playback, as labeled in the recording.