Inference Latency and Control Frequency Analysis on NVIDIA RTX 4090
14Latency (ms)ElasticFlow
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| ElasticFlowBackbone=DiT (150M), NFE=12026.05 | 14 | 71 | |
| Consistency PolicyBackbone=UNet (300M), NFE=22026.05 | 28 | 35 | |
| π0Backbone=DiT (300M), NFE=10 (Euler)2026.05 | 85 | 12 | |
| Diffusion PolicyBackbone=UNet (300M), NFE=16 (DDIM)2026.05 | 120 | 8 | |
| OpenVLABackbone=Transformer (7B), NFE=Auto-reg.2026.05 | 200 | 5 |