Inference Efficiency on RTX 4090
0.076Time per Step (sec)VLA-AD (π-0.5)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| VLA-AD (π-0.5)Params=158M2026.05 | 0.076 | 13.2 | 3.45 | |
| VLA-AD(OpenVLA)Params=158M2026.05 | 0.08 | 12.5 | 3.28 | |
| π0.5-4BParams=4B2026.05 | 0.172 | 5.81 | 1.52 | |
| OpenVLA-7BParams=7B2026.05 | 0.262 | 3.8 | 1 |