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Benchmarks
Inference Latency and Control Frequency Analysis on NVIDIA RTX 4090
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14
Latency (ms)
ElasticFlow
6.56
56.78
107
157.22
May 9, 2026
Latency (ms)
Control Frequency (Hz)
Updated 2mo ago
Evaluation Results
Method
Method
Links
Latency (ms)
Control Frequency (Hz)
ElasticFlow
Backbone=DiT (150M), N...
2026.05
14
71
Consistency Policy
Backbone=UNet (300M),...
2026.05
28
35
π0
Backbone=DiT (300M), N...
2026.05
85
12
Diffusion Policy
Backbone=UNet (300M),...
2026.05
120
8
OpenVLA
Backbone=Transformer (...
2026.05
200
5
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